27.684 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 0.967 * * * [progress]: [2/2] Setting up program. 0.978 * [progress]: [Phase 2 of 3] Improving. 0.978 * [simplify]: Simplifying: (+ lambda1 (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) 0.979 * * [simplify]: Extracting # 0 : cost 0 0.979 * * [simplify]: Extracting # 1 : cost 0 0.979 * * [simplify]: Extracting # 2 : cost 0 0.979 * * [simplify]: Extracting # 3 : cost 0 0.979 * * [simplify]: Extracting # 4 : cost 0 0.979 * * [simplify]: Extracting # 5 : cost 0 0.979 * * [simplify]: Extracting # 6 : cost 0 0.979 * * [simplify]: Extracting # 7 : cost 0 0.979 * * [simplify]: Extracting # 8 : cost 0 0.979 * * [simplify]: Extracting # 9 : cost 0 0.979 * * [simplify]: Extracting # 10 : cost 0 0.979 * * [simplify]: Extracting # 11 : cost 0 0.979 * * [simplify]: Extracting # 12 : cost 0 0.979 * * [simplify]: Extracting # 13 : cost 0 0.979 * * [simplify]: Extracting # 14 : cost 0 0.980 * * [simplify]: iteration 0 : 22 enodes (cost 33 ) 0.986 * * [simplify]: Extracting # 0 : cost 0 0.986 * * [simplify]: Extracting # 1 : cost 0 0.986 * * [simplify]: Extracting # 2 : cost 0 0.986 * * [simplify]: iteration 1 : 35 enodes (cost 33 ) 0.996 * * [simplify]: Extracting # 0 : cost 0 0.996 * * [simplify]: Extracting # 1 : cost 0 0.997 * * [simplify]: Extracting # 2 : cost 0 0.997 * * [simplify]: iteration 2 : 56 enodes (cost 33 ) 1.012 * * [simplify]: Extracting # 0 : cost 0 1.012 * * [simplify]: iteration 3 : 60 enodes (cost 33 ) 1.069 * * [simplify]: Extracting # 0 : cost 0 1.069 * * [simplify]: iteration done: 60 enodes (cost 33 ) 1.069 * [simplify]: Simplified to: (+ lambda1 (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) 1.074 * * [progress]: iteration 1 / 4 1.075 * * * [progress]: picking best candidate 1.085 * * * * [pick]: Picked # 1.085 * * * [progress]: localizing error 1.154 * * * [progress]: generating rewritten candidates 1.154 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2) 1.168 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 2 2) 1.192 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 2 2 1) 1.195 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2) 1.207 * * * [progress]: generating series expansions 1.207 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2) 1.208 * [backup-simplify]: Simplify (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) into (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) 1.208 * [approximate]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in (delta phi1 theta) around 0 1.208 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in theta 1.208 * [taylor]: Taking taylor expansion of (cos delta) in theta 1.208 * [taylor]: Taking taylor expansion of delta in theta 1.208 * [backup-simplify]: Simplify delta into delta 1.208 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.208 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.208 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in theta 1.208 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in theta 1.208 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.208 * [taylor]: Taking taylor expansion of phi1 in theta 1.208 * [backup-simplify]: Simplify phi1 into phi1 1.209 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.209 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.209 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in theta 1.209 * [taylor]: Taking taylor expansion of (cos phi1) in theta 1.209 * [taylor]: Taking taylor expansion of phi1 in theta 1.209 * [backup-simplify]: Simplify phi1 into phi1 1.209 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.209 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.209 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 1.209 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.209 * [taylor]: Taking taylor expansion of theta in theta 1.209 * [backup-simplify]: Simplify 0 into 0 1.209 * [backup-simplify]: Simplify 1 into 1 1.209 * [taylor]: Taking taylor expansion of (sin delta) in theta 1.209 * [taylor]: Taking taylor expansion of delta in theta 1.209 * [backup-simplify]: Simplify delta into delta 1.209 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.209 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.209 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in theta 1.209 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in theta 1.209 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.209 * [taylor]: Taking taylor expansion of phi1 in theta 1.209 * [backup-simplify]: Simplify phi1 into phi1 1.209 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.209 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.209 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 1.209 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.209 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 1.209 * [taylor]: Taking taylor expansion of (cos delta) in theta 1.209 * [taylor]: Taking taylor expansion of delta in theta 1.210 * [backup-simplify]: Simplify delta into delta 1.210 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.210 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.210 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in phi1 1.210 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.210 * [taylor]: Taking taylor expansion of delta in phi1 1.210 * [backup-simplify]: Simplify delta into delta 1.210 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.210 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.210 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in phi1 1.210 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 1.210 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.210 * [taylor]: Taking taylor expansion of phi1 in phi1 1.210 * [backup-simplify]: Simplify 0 into 0 1.210 * [backup-simplify]: Simplify 1 into 1 1.210 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 1.210 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.210 * [taylor]: Taking taylor expansion of phi1 in phi1 1.210 * [backup-simplify]: Simplify 0 into 0 1.210 * [backup-simplify]: Simplify 1 into 1 1.210 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 1.210 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.210 * [taylor]: Taking taylor expansion of theta in phi1 1.210 * [backup-simplify]: Simplify theta into theta 1.210 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.210 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.210 * [taylor]: Taking taylor expansion of (sin delta) in phi1 1.210 * [taylor]: Taking taylor expansion of delta in phi1 1.210 * [backup-simplify]: Simplify delta into delta 1.210 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.210 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.210 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in phi1 1.210 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 1.210 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.210 * [taylor]: Taking taylor expansion of phi1 in phi1 1.210 * [backup-simplify]: Simplify 0 into 0 1.210 * [backup-simplify]: Simplify 1 into 1 1.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.211 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.211 * [taylor]: Taking taylor expansion of delta in phi1 1.211 * [backup-simplify]: Simplify delta into delta 1.212 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.212 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.212 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 1.212 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.212 * [taylor]: Taking taylor expansion of delta in delta 1.212 * [backup-simplify]: Simplify 0 into 0 1.212 * [backup-simplify]: Simplify 1 into 1 1.212 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 1.212 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 1.212 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.212 * [taylor]: Taking taylor expansion of phi1 in delta 1.212 * [backup-simplify]: Simplify phi1 into phi1 1.212 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.212 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.212 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 1.212 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.212 * [taylor]: Taking taylor expansion of phi1 in delta 1.212 * [backup-simplify]: Simplify phi1 into phi1 1.212 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.212 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.212 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 1.212 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.212 * [taylor]: Taking taylor expansion of theta in delta 1.212 * [backup-simplify]: Simplify theta into theta 1.212 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.212 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.212 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.212 * [taylor]: Taking taylor expansion of delta in delta 1.212 * [backup-simplify]: Simplify 0 into 0 1.212 * [backup-simplify]: Simplify 1 into 1 1.212 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 1.212 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 1.212 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.212 * [taylor]: Taking taylor expansion of phi1 in delta 1.212 * [backup-simplify]: Simplify phi1 into phi1 1.212 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.212 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.212 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 1.212 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.212 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 1.212 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.212 * [taylor]: Taking taylor expansion of delta in delta 1.212 * [backup-simplify]: Simplify 0 into 0 1.212 * [backup-simplify]: Simplify 1 into 1 1.212 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 1.212 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.213 * [taylor]: Taking taylor expansion of delta in delta 1.213 * [backup-simplify]: Simplify 0 into 0 1.213 * [backup-simplify]: Simplify 1 into 1 1.213 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 1.213 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 1.213 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.213 * [taylor]: Taking taylor expansion of phi1 in delta 1.213 * [backup-simplify]: Simplify phi1 into phi1 1.213 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.213 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.213 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 1.213 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.213 * [taylor]: Taking taylor expansion of phi1 in delta 1.213 * [backup-simplify]: Simplify phi1 into phi1 1.213 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.213 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.213 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 1.213 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.213 * [taylor]: Taking taylor expansion of theta in delta 1.213 * [backup-simplify]: Simplify theta into theta 1.213 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.213 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.213 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.213 * [taylor]: Taking taylor expansion of delta in delta 1.213 * [backup-simplify]: Simplify 0 into 0 1.213 * [backup-simplify]: Simplify 1 into 1 1.213 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 1.213 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 1.213 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.213 * [taylor]: Taking taylor expansion of phi1 in delta 1.213 * [backup-simplify]: Simplify phi1 into phi1 1.213 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.213 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.213 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 1.213 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.213 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 1.213 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.213 * [taylor]: Taking taylor expansion of delta in delta 1.213 * [backup-simplify]: Simplify 0 into 0 1.213 * [backup-simplify]: Simplify 1 into 1 1.213 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 1.214 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.214 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 1.214 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 1.214 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 1.214 * [backup-simplify]: Simplify (- 0) into 0 1.214 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 1.214 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.214 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.215 * [backup-simplify]: Simplify (- 0) into 0 1.215 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.215 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 1.215 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 1.215 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 1.215 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 1.215 * [backup-simplify]: Simplify (* (pow (sin phi1) 2) 1) into (pow (sin phi1) 2) 1.215 * [backup-simplify]: Simplify (+ 0 (pow (sin phi1) 2)) into (pow (sin phi1) 2) 1.215 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 1.215 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 1.215 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 1.215 * [taylor]: Taking taylor expansion of 1 in phi1 1.215 * [backup-simplify]: Simplify 1 into 1 1.215 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 1.216 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.216 * [taylor]: Taking taylor expansion of phi1 in phi1 1.216 * [backup-simplify]: Simplify 0 into 0 1.216 * [backup-simplify]: Simplify 1 into 1 1.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.216 * [backup-simplify]: Simplify (+ 1 0) into 1 1.216 * [taylor]: Taking taylor expansion of 1 in theta 1.216 * [backup-simplify]: Simplify 1 into 1 1.216 * [backup-simplify]: Simplify 1 into 1 1.217 * [backup-simplify]: Simplify (+ 0) into 0 1.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.218 * [backup-simplify]: Simplify (+ 0) into 0 1.218 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.219 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 1.219 * [backup-simplify]: Simplify (- 0) into 0 1.219 * [backup-simplify]: Simplify (+ 0 0) into 0 1.220 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 1.220 * [backup-simplify]: Simplify (+ 0) into 0 1.220 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 1.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.221 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 1.221 * [backup-simplify]: Simplify (- 0) into 0 1.222 * [backup-simplify]: Simplify (+ 0 0) into 0 1.222 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) (* 0 0)) into (* (cos phi1) (cos theta)) 1.222 * [backup-simplify]: Simplify (+ 0) into 0 1.222 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 1.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.223 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 1.223 * [backup-simplify]: Simplify (+ 0 0) into 0 1.224 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 0)) into (* (sin phi1) (* (cos phi1) (cos theta))) 1.224 * [backup-simplify]: Simplify (+ 0) into 0 1.224 * [backup-simplify]: Simplify (+ 0) into 0 1.225 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 1.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.225 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 1.226 * [backup-simplify]: Simplify (+ 0 0) into 0 1.226 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (sin phi1))) into 0 1.226 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) 0) (* 0 1)) into 0 1.226 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) 0) into (* (sin phi1) (* (cos phi1) (cos theta))) 1.226 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 1.227 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 1.227 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 1.227 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 1.227 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.227 * [taylor]: Taking taylor expansion of phi1 in phi1 1.227 * [backup-simplify]: Simplify 0 into 0 1.227 * [backup-simplify]: Simplify 1 into 1 1.227 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 1.227 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.227 * [taylor]: Taking taylor expansion of phi1 in phi1 1.227 * [backup-simplify]: Simplify 0 into 0 1.227 * [backup-simplify]: Simplify 1 into 1 1.227 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.227 * [taylor]: Taking taylor expansion of theta in phi1 1.227 * [backup-simplify]: Simplify theta into theta 1.227 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.227 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.227 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.227 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.227 * [backup-simplify]: Simplify (- 0) into 0 1.227 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.227 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 1.227 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 1.228 * [backup-simplify]: Simplify (- 0) into 0 1.228 * [taylor]: Taking taylor expansion of 0 in theta 1.228 * [backup-simplify]: Simplify 0 into 0 1.228 * [backup-simplify]: Simplify 0 into 0 1.228 * [backup-simplify]: Simplify (+ 0 0) into 0 1.228 * [taylor]: Taking taylor expansion of 0 in theta 1.228 * [backup-simplify]: Simplify 0 into 0 1.228 * [backup-simplify]: Simplify 0 into 0 1.228 * [backup-simplify]: Simplify 0 into 0 1.229 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 1.229 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.230 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.230 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 1.231 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.231 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 1.231 * [backup-simplify]: Simplify (- 0) into 0 1.231 * [backup-simplify]: Simplify (+ 0 0) into 0 1.232 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 1) (* 0 0))) into 0 1.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.233 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 1.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.233 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 1.234 * [backup-simplify]: Simplify (- 0) into 0 1.234 * [backup-simplify]: Simplify (+ 0 0) into 0 1.234 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 (cos theta)) (* 0 0))) into 0 1.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.235 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 1.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.236 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 1.236 * [backup-simplify]: Simplify (+ 0 0) into 0 1.237 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 0))) into 0 1.237 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 1.238 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.238 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 1.239 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.239 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 1.240 * [backup-simplify]: Simplify (+ 0 0) into 0 1.240 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (sin phi1)))) into 0 1.241 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (pow (sin phi1) 2))) 1.241 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (pow (sin phi1) 2)))) into (- (* 1/2 (pow (sin phi1) 2))) 1.242 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 1.242 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 1.242 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 1.242 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 1.242 * [taylor]: Taking taylor expansion of 1/2 in phi1 1.242 * [backup-simplify]: Simplify 1/2 into 1/2 1.242 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 1.242 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.242 * [taylor]: Taking taylor expansion of phi1 in phi1 1.242 * [backup-simplify]: Simplify 0 into 0 1.242 * [backup-simplify]: Simplify 1 into 1 1.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.243 * [taylor]: Taking taylor expansion of 1/2 in phi1 1.243 * [backup-simplify]: Simplify 1/2 into 1/2 1.243 * [backup-simplify]: Simplify (- 1/2) into -1/2 1.244 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 1.244 * [taylor]: Taking taylor expansion of -1/2 in theta 1.244 * [backup-simplify]: Simplify -1/2 into -1/2 1.244 * [backup-simplify]: Simplify -1/2 into -1/2 1.244 * [backup-simplify]: Simplify (+ 0) into 0 1.244 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.246 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 1.246 * [backup-simplify]: Simplify (- 0) into 0 1.246 * [backup-simplify]: Simplify (+ 0 0) into 0 1.247 * [backup-simplify]: Simplify (+ 0) into 0 1.247 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 1.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.248 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 1.248 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 1.248 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 1.248 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.248 * [taylor]: Taking taylor expansion of theta in theta 1.248 * [backup-simplify]: Simplify 0 into 0 1.248 * [backup-simplify]: Simplify 1 into 1 1.249 * [backup-simplify]: Simplify (- 1) into -1 1.249 * [backup-simplify]: Simplify -1 into -1 1.249 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* 1/2 (pow delta 2)) (* delta phi1))) 1.250 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (cos (/ 1 theta)))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.250 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in (delta phi1 theta) around 0 1.250 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 1.250 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.250 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.250 * [taylor]: Taking taylor expansion of delta in theta 1.250 * [backup-simplify]: Simplify delta into delta 1.250 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.251 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.251 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.251 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 1.251 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 1.251 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.251 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.251 * [taylor]: Taking taylor expansion of delta in theta 1.251 * [backup-simplify]: Simplify delta into delta 1.251 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.251 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.251 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.251 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 1.251 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.251 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.251 * [taylor]: Taking taylor expansion of theta in theta 1.251 * [backup-simplify]: Simplify 0 into 0 1.251 * [backup-simplify]: Simplify 1 into 1 1.252 * [backup-simplify]: Simplify (/ 1 1) into 1 1.252 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.252 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 1.252 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.252 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.252 * [taylor]: Taking taylor expansion of phi1 in theta 1.252 * [backup-simplify]: Simplify phi1 into phi1 1.252 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.252 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.252 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.252 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.252 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.252 * [taylor]: Taking taylor expansion of phi1 in theta 1.252 * [backup-simplify]: Simplify phi1 into phi1 1.252 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.252 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.252 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.252 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 1.252 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 1.252 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.252 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.253 * [taylor]: Taking taylor expansion of phi1 in theta 1.253 * [backup-simplify]: Simplify phi1 into phi1 1.253 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.253 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.253 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.253 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.253 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.253 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.253 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.253 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.253 * [taylor]: Taking taylor expansion of delta in theta 1.253 * [backup-simplify]: Simplify delta into delta 1.253 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.253 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.253 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.253 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in phi1 1.253 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.253 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.254 * [taylor]: Taking taylor expansion of delta in phi1 1.254 * [backup-simplify]: Simplify delta into delta 1.254 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.254 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.254 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.254 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 1.254 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 1.254 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.254 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.254 * [taylor]: Taking taylor expansion of delta in phi1 1.254 * [backup-simplify]: Simplify delta into delta 1.254 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.254 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.254 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.254 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 1.254 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.254 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.254 * [taylor]: Taking taylor expansion of theta in phi1 1.254 * [backup-simplify]: Simplify theta into theta 1.254 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.254 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.254 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.255 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 1.255 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.255 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.255 * [taylor]: Taking taylor expansion of phi1 in phi1 1.255 * [backup-simplify]: Simplify 0 into 0 1.255 * [backup-simplify]: Simplify 1 into 1 1.255 * [backup-simplify]: Simplify (/ 1 1) into 1 1.255 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.255 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.255 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.255 * [taylor]: Taking taylor expansion of phi1 in phi1 1.255 * [backup-simplify]: Simplify 0 into 0 1.255 * [backup-simplify]: Simplify 1 into 1 1.256 * [backup-simplify]: Simplify (/ 1 1) into 1 1.256 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.256 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 1.256 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 1.256 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.256 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.256 * [taylor]: Taking taylor expansion of phi1 in phi1 1.256 * [backup-simplify]: Simplify 0 into 0 1.256 * [backup-simplify]: Simplify 1 into 1 1.256 * [backup-simplify]: Simplify (/ 1 1) into 1 1.256 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.256 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.257 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.257 * [taylor]: Taking taylor expansion of delta in phi1 1.257 * [backup-simplify]: Simplify delta into delta 1.257 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.257 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.257 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.257 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in delta 1.257 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.257 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.257 * [taylor]: Taking taylor expansion of delta in delta 1.257 * [backup-simplify]: Simplify 0 into 0 1.257 * [backup-simplify]: Simplify 1 into 1 1.257 * [backup-simplify]: Simplify (/ 1 1) into 1 1.257 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.257 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 1.257 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 1.258 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.258 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.258 * [taylor]: Taking taylor expansion of delta in delta 1.258 * [backup-simplify]: Simplify 0 into 0 1.258 * [backup-simplify]: Simplify 1 into 1 1.258 * [backup-simplify]: Simplify (/ 1 1) into 1 1.258 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.258 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 1.258 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.258 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.258 * [taylor]: Taking taylor expansion of theta in delta 1.258 * [backup-simplify]: Simplify theta into theta 1.258 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.258 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.258 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.259 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 1.259 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.259 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.259 * [taylor]: Taking taylor expansion of phi1 in delta 1.259 * [backup-simplify]: Simplify phi1 into phi1 1.259 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.259 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.259 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.259 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.259 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.259 * [taylor]: Taking taylor expansion of phi1 in delta 1.259 * [backup-simplify]: Simplify phi1 into phi1 1.259 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.259 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.259 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.259 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 1.259 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 1.259 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.259 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.259 * [taylor]: Taking taylor expansion of phi1 in delta 1.259 * [backup-simplify]: Simplify phi1 into phi1 1.259 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.259 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.260 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.260 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.260 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.260 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.260 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.260 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.260 * [taylor]: Taking taylor expansion of delta in delta 1.260 * [backup-simplify]: Simplify 0 into 0 1.260 * [backup-simplify]: Simplify 1 into 1 1.260 * [backup-simplify]: Simplify (/ 1 1) into 1 1.260 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.260 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in delta 1.260 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.261 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.261 * [taylor]: Taking taylor expansion of delta in delta 1.261 * [backup-simplify]: Simplify 0 into 0 1.261 * [backup-simplify]: Simplify 1 into 1 1.261 * [backup-simplify]: Simplify (/ 1 1) into 1 1.261 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.261 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 1.261 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 1.261 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.261 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.261 * [taylor]: Taking taylor expansion of delta in delta 1.262 * [backup-simplify]: Simplify 0 into 0 1.262 * [backup-simplify]: Simplify 1 into 1 1.262 * [backup-simplify]: Simplify (/ 1 1) into 1 1.262 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.262 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 1.262 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.262 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.262 * [taylor]: Taking taylor expansion of theta in delta 1.262 * [backup-simplify]: Simplify theta into theta 1.262 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.262 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.262 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.262 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 1.262 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.262 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.262 * [taylor]: Taking taylor expansion of phi1 in delta 1.263 * [backup-simplify]: Simplify phi1 into phi1 1.263 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.263 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.263 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.263 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.263 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.263 * [taylor]: Taking taylor expansion of phi1 in delta 1.263 * [backup-simplify]: Simplify phi1 into phi1 1.263 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.263 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.263 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.263 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 1.263 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 1.263 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.263 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.263 * [taylor]: Taking taylor expansion of phi1 in delta 1.263 * [backup-simplify]: Simplify phi1 into phi1 1.263 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.263 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.263 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.263 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.263 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.263 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.263 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.263 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.263 * [taylor]: Taking taylor expansion of delta in delta 1.263 * [backup-simplify]: Simplify 0 into 0 1.263 * [backup-simplify]: Simplify 1 into 1 1.264 * [backup-simplify]: Simplify (/ 1 1) into 1 1.264 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.264 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.264 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.264 * [backup-simplify]: Simplify (- 0) into 0 1.264 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.264 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.264 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.265 * [backup-simplify]: Simplify (- 0) into 0 1.265 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.265 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.265 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.265 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.265 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 1.265 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 1.265 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 1.265 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 1.265 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 1.266 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 1.266 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.267 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.267 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in phi1 1.267 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.267 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.267 * [taylor]: Taking taylor expansion of delta in phi1 1.267 * [backup-simplify]: Simplify delta into delta 1.267 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.267 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.267 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.267 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 1.267 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 1.267 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.267 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.267 * [taylor]: Taking taylor expansion of delta in phi1 1.267 * [backup-simplify]: Simplify delta into delta 1.267 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.267 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.267 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.267 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 1.267 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.267 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.267 * [taylor]: Taking taylor expansion of theta in phi1 1.267 * [backup-simplify]: Simplify theta into theta 1.267 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.267 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.267 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.267 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 1.267 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.267 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.267 * [taylor]: Taking taylor expansion of phi1 in phi1 1.268 * [backup-simplify]: Simplify 0 into 0 1.268 * [backup-simplify]: Simplify 1 into 1 1.268 * [backup-simplify]: Simplify (/ 1 1) into 1 1.268 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.268 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.268 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.268 * [taylor]: Taking taylor expansion of phi1 in phi1 1.268 * [backup-simplify]: Simplify 0 into 0 1.268 * [backup-simplify]: Simplify 1 into 1 1.268 * [backup-simplify]: Simplify (/ 1 1) into 1 1.268 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.268 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 1.268 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 1.268 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.268 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.268 * [taylor]: Taking taylor expansion of phi1 in phi1 1.268 * [backup-simplify]: Simplify 0 into 0 1.268 * [backup-simplify]: Simplify 1 into 1 1.269 * [backup-simplify]: Simplify (/ 1 1) into 1 1.269 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.269 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.269 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.269 * [taylor]: Taking taylor expansion of delta in phi1 1.269 * [backup-simplify]: Simplify delta into delta 1.269 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.269 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.269 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.269 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.269 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.269 * [backup-simplify]: Simplify (- 0) into 0 1.269 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.269 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.269 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.270 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.270 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.270 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.270 * [backup-simplify]: Simplify (- 0) into 0 1.270 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.270 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 1.270 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 1.270 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 1.270 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 1.271 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.271 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.271 * [backup-simplify]: Simplify (- 0) into 0 1.271 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.271 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 1.271 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 1.272 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.272 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.272 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 1.272 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.272 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.273 * [taylor]: Taking taylor expansion of delta in theta 1.273 * [backup-simplify]: Simplify delta into delta 1.273 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.273 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.273 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.273 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 1.273 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 1.273 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.273 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.273 * [taylor]: Taking taylor expansion of delta in theta 1.273 * [backup-simplify]: Simplify delta into delta 1.273 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.273 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.273 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.273 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 1.273 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.273 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.273 * [taylor]: Taking taylor expansion of theta in theta 1.273 * [backup-simplify]: Simplify 0 into 0 1.273 * [backup-simplify]: Simplify 1 into 1 1.273 * [backup-simplify]: Simplify (/ 1 1) into 1 1.273 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.273 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 1.273 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.273 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.273 * [taylor]: Taking taylor expansion of phi1 in theta 1.273 * [backup-simplify]: Simplify phi1 into phi1 1.274 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.274 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.274 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.274 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.274 * [taylor]: Taking taylor expansion of phi1 in theta 1.274 * [backup-simplify]: Simplify phi1 into phi1 1.274 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.274 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.274 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.274 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 1.274 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 1.274 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.274 * [taylor]: Taking taylor expansion of phi1 in theta 1.274 * [backup-simplify]: Simplify phi1 into phi1 1.274 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.274 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.274 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.274 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.274 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.274 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.274 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.274 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.274 * [taylor]: Taking taylor expansion of delta in theta 1.274 * [backup-simplify]: Simplify delta into delta 1.274 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.274 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.274 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.274 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.275 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.275 * [backup-simplify]: Simplify (- 0) into 0 1.275 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.275 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.275 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.275 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.275 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.275 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.276 * [backup-simplify]: Simplify (- 0) into 0 1.276 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.276 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.276 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.276 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.276 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 1.276 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 1.276 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 1.276 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 1.276 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.276 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.277 * [backup-simplify]: Simplify (- 0) into 0 1.277 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.277 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 1.277 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 1.278 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.278 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.279 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 1.279 * [backup-simplify]: Simplify (+ 0) into 0 1.280 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.280 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.280 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.281 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.281 * [backup-simplify]: Simplify (+ 0 0) into 0 1.281 * [backup-simplify]: Simplify (+ 0) into 0 1.282 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.282 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.283 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.283 * [backup-simplify]: Simplify (- 0) into 0 1.283 * [backup-simplify]: Simplify (+ 0 0) into 0 1.283 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.283 * [backup-simplify]: Simplify (+ 0) into 0 1.284 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.284 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.285 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.285 * [backup-simplify]: Simplify (- 0) into 0 1.285 * [backup-simplify]: Simplify (+ 0 0) into 0 1.285 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 1.285 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 1.286 * [backup-simplify]: Simplify (+ 0) into 0 1.286 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.286 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.287 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.287 * [backup-simplify]: Simplify (+ 0 0) into 0 1.287 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.287 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 1.288 * [backup-simplify]: Simplify (+ 0 0) into 0 1.288 * [backup-simplify]: Simplify (- 0) into 0 1.288 * [backup-simplify]: Simplify (+ 0 0) into 0 1.288 * [taylor]: Taking taylor expansion of 0 in phi1 1.288 * [backup-simplify]: Simplify 0 into 0 1.288 * [taylor]: Taking taylor expansion of 0 in theta 1.288 * [backup-simplify]: Simplify 0 into 0 1.288 * [backup-simplify]: Simplify 0 into 0 1.289 * [backup-simplify]: Simplify (+ 0) into 0 1.289 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.289 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.290 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.290 * [backup-simplify]: Simplify (- 0) into 0 1.290 * [backup-simplify]: Simplify (+ 0 0) into 0 1.290 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.291 * [backup-simplify]: Simplify (+ 0) into 0 1.291 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.292 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.293 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.293 * [backup-simplify]: Simplify (- 0) into 0 1.294 * [backup-simplify]: Simplify (+ 0 0) into 0 1.294 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 1.294 * [backup-simplify]: Simplify (+ 0) into 0 1.295 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.296 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.297 * [backup-simplify]: Simplify (+ 0 0) into 0 1.297 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 1.297 * [backup-simplify]: Simplify (+ 0) into 0 1.298 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.298 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.299 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.299 * [backup-simplify]: Simplify (- 0) into 0 1.300 * [backup-simplify]: Simplify (+ 0 0) into 0 1.300 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.300 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 1.301 * [backup-simplify]: Simplify (+ 0 0) into 0 1.301 * [backup-simplify]: Simplify (- 0) into 0 1.301 * [backup-simplify]: Simplify (+ 0 0) into 0 1.301 * [taylor]: Taking taylor expansion of 0 in theta 1.301 * [backup-simplify]: Simplify 0 into 0 1.301 * [backup-simplify]: Simplify 0 into 0 1.302 * [backup-simplify]: Simplify (+ 0) into 0 1.302 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.304 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.304 * [backup-simplify]: Simplify (- 0) into 0 1.304 * [backup-simplify]: Simplify (+ 0 0) into 0 1.305 * [backup-simplify]: Simplify (+ 0) into 0 1.305 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.305 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.307 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.307 * [backup-simplify]: Simplify (+ 0 0) into 0 1.307 * [backup-simplify]: Simplify (+ 0) into 0 1.308 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.308 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.309 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.309 * [backup-simplify]: Simplify (- 0) into 0 1.310 * [backup-simplify]: Simplify (+ 0 0) into 0 1.310 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.310 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 1.310 * [backup-simplify]: Simplify (+ 0) into 0 1.311 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.311 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.312 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.313 * [backup-simplify]: Simplify (+ 0 0) into 0 1.313 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 1.313 * [backup-simplify]: Simplify (+ 0) into 0 1.314 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.314 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.315 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.315 * [backup-simplify]: Simplify (- 0) into 0 1.316 * [backup-simplify]: Simplify (+ 0 0) into 0 1.316 * [backup-simplify]: Simplify (+ 0) into 0 1.317 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.317 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.318 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.318 * [backup-simplify]: Simplify (+ 0 0) into 0 1.318 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.319 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 1.319 * [backup-simplify]: Simplify (+ 0 0) into 0 1.320 * [backup-simplify]: Simplify (- 0) into 0 1.320 * [backup-simplify]: Simplify (+ 0 0) into 0 1.320 * [backup-simplify]: Simplify 0 into 0 1.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.321 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.322 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.322 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.323 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.323 * [backup-simplify]: Simplify (+ 0 0) into 0 1.324 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.325 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.325 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.326 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.326 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.327 * [backup-simplify]: Simplify (- 0) into 0 1.327 * [backup-simplify]: Simplify (+ 0 0) into 0 1.328 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.329 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.329 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.330 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.330 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.338 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.339 * [backup-simplify]: Simplify (- 0) into 0 1.340 * [backup-simplify]: Simplify (+ 0 0) into 0 1.341 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 1.342 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 1.343 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.343 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.344 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.344 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.345 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.345 * [backup-simplify]: Simplify (+ 0 0) into 0 1.346 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.347 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 1.347 * [backup-simplify]: Simplify (+ 0 0) into 0 1.348 * [backup-simplify]: Simplify (- 0) into 0 1.348 * [backup-simplify]: Simplify (+ 0 0) into 0 1.348 * [taylor]: Taking taylor expansion of 0 in phi1 1.348 * [backup-simplify]: Simplify 0 into 0 1.348 * [taylor]: Taking taylor expansion of 0 in theta 1.348 * [backup-simplify]: Simplify 0 into 0 1.348 * [backup-simplify]: Simplify 0 into 0 1.348 * [taylor]: Taking taylor expansion of 0 in theta 1.348 * [backup-simplify]: Simplify 0 into 0 1.348 * [backup-simplify]: Simplify 0 into 0 1.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.350 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.350 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.351 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.351 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.352 * [backup-simplify]: Simplify (- 0) into 0 1.352 * [backup-simplify]: Simplify (+ 0 0) into 0 1.353 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.355 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.356 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.356 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.356 * [backup-simplify]: Simplify (- 0) into 0 1.357 * [backup-simplify]: Simplify (+ 0 0) into 0 1.357 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 1.358 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.359 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.359 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.360 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.361 * [backup-simplify]: Simplify (+ 0 0) into 0 1.362 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 1.363 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.364 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.364 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.365 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.365 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.366 * [backup-simplify]: Simplify (- 0) into 0 1.366 * [backup-simplify]: Simplify (+ 0 0) into 0 1.367 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.367 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 1.368 * [backup-simplify]: Simplify (+ 0 0) into 0 1.368 * [backup-simplify]: Simplify (- 0) into 0 1.368 * [backup-simplify]: Simplify (+ 0 0) into 0 1.368 * [taylor]: Taking taylor expansion of 0 in theta 1.368 * [backup-simplify]: Simplify 0 into 0 1.368 * [backup-simplify]: Simplify 0 into 0 1.369 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))))) 1.370 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (+ (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))) (* (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (cos (/ 1 (- theta))))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.370 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in (delta phi1 theta) around 0 1.371 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in theta 1.371 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.371 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.371 * [taylor]: Taking taylor expansion of -1 in theta 1.371 * [backup-simplify]: Simplify -1 into -1 1.371 * [taylor]: Taking taylor expansion of delta in theta 1.371 * [backup-simplify]: Simplify delta into delta 1.371 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.371 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.371 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.371 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in theta 1.371 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 1.371 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 1.371 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.371 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.371 * [taylor]: Taking taylor expansion of -1 in theta 1.371 * [backup-simplify]: Simplify -1 into -1 1.371 * [taylor]: Taking taylor expansion of phi1 in theta 1.371 * [backup-simplify]: Simplify phi1 into phi1 1.371 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.371 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.371 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.372 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.372 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.372 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.372 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.372 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.372 * [taylor]: Taking taylor expansion of -1 in theta 1.372 * [backup-simplify]: Simplify -1 into -1 1.372 * [taylor]: Taking taylor expansion of delta in theta 1.372 * [backup-simplify]: Simplify delta into delta 1.372 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.372 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.372 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.372 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 1.372 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.372 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.372 * [taylor]: Taking taylor expansion of -1 in theta 1.372 * [backup-simplify]: Simplify -1 into -1 1.372 * [taylor]: Taking taylor expansion of phi1 in theta 1.372 * [backup-simplify]: Simplify phi1 into phi1 1.372 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.372 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.372 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.373 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 1.373 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.373 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.373 * [taylor]: Taking taylor expansion of -1 in theta 1.373 * [backup-simplify]: Simplify -1 into -1 1.373 * [taylor]: Taking taylor expansion of theta in theta 1.373 * [backup-simplify]: Simplify 0 into 0 1.373 * [backup-simplify]: Simplify 1 into 1 1.373 * [backup-simplify]: Simplify (/ -1 1) into -1 1.373 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.373 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 1.373 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.373 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.373 * [taylor]: Taking taylor expansion of -1 in theta 1.374 * [backup-simplify]: Simplify -1 into -1 1.374 * [taylor]: Taking taylor expansion of phi1 in theta 1.374 * [backup-simplify]: Simplify phi1 into phi1 1.374 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.374 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.374 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.374 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.374 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.374 * [taylor]: Taking taylor expansion of -1 in theta 1.374 * [backup-simplify]: Simplify -1 into -1 1.374 * [taylor]: Taking taylor expansion of delta in theta 1.374 * [backup-simplify]: Simplify delta into delta 1.374 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.374 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.374 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.374 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in phi1 1.374 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.374 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.374 * [taylor]: Taking taylor expansion of -1 in phi1 1.374 * [backup-simplify]: Simplify -1 into -1 1.374 * [taylor]: Taking taylor expansion of delta in phi1 1.374 * [backup-simplify]: Simplify delta into delta 1.375 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.375 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.375 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.375 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in phi1 1.375 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 1.375 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 1.375 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.375 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.375 * [taylor]: Taking taylor expansion of -1 in phi1 1.375 * [backup-simplify]: Simplify -1 into -1 1.375 * [taylor]: Taking taylor expansion of phi1 in phi1 1.375 * [backup-simplify]: Simplify 0 into 0 1.375 * [backup-simplify]: Simplify 1 into 1 1.375 * [backup-simplify]: Simplify (/ -1 1) into -1 1.376 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.376 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.376 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.376 * [taylor]: Taking taylor expansion of -1 in phi1 1.376 * [backup-simplify]: Simplify -1 into -1 1.376 * [taylor]: Taking taylor expansion of delta in phi1 1.376 * [backup-simplify]: Simplify delta into delta 1.376 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.376 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.376 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.376 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 1.376 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.376 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.376 * [taylor]: Taking taylor expansion of -1 in phi1 1.376 * [backup-simplify]: Simplify -1 into -1 1.376 * [taylor]: Taking taylor expansion of phi1 in phi1 1.376 * [backup-simplify]: Simplify 0 into 0 1.376 * [backup-simplify]: Simplify 1 into 1 1.377 * [backup-simplify]: Simplify (/ -1 1) into -1 1.377 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.377 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 1.377 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.377 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.377 * [taylor]: Taking taylor expansion of -1 in phi1 1.377 * [backup-simplify]: Simplify -1 into -1 1.377 * [taylor]: Taking taylor expansion of theta in phi1 1.377 * [backup-simplify]: Simplify theta into theta 1.377 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.377 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.377 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.377 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 1.377 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.377 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.377 * [taylor]: Taking taylor expansion of -1 in phi1 1.377 * [backup-simplify]: Simplify -1 into -1 1.377 * [taylor]: Taking taylor expansion of phi1 in phi1 1.377 * [backup-simplify]: Simplify 0 into 0 1.377 * [backup-simplify]: Simplify 1 into 1 1.378 * [backup-simplify]: Simplify (/ -1 1) into -1 1.378 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.378 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.378 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.378 * [taylor]: Taking taylor expansion of -1 in phi1 1.378 * [backup-simplify]: Simplify -1 into -1 1.378 * [taylor]: Taking taylor expansion of delta in phi1 1.378 * [backup-simplify]: Simplify delta into delta 1.378 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.378 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.378 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.378 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in delta 1.378 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.378 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.378 * [taylor]: Taking taylor expansion of -1 in delta 1.378 * [backup-simplify]: Simplify -1 into -1 1.378 * [taylor]: Taking taylor expansion of delta in delta 1.378 * [backup-simplify]: Simplify 0 into 0 1.378 * [backup-simplify]: Simplify 1 into 1 1.379 * [backup-simplify]: Simplify (/ -1 1) into -1 1.379 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.379 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in delta 1.379 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 1.379 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 1.379 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.379 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.379 * [taylor]: Taking taylor expansion of -1 in delta 1.379 * [backup-simplify]: Simplify -1 into -1 1.379 * [taylor]: Taking taylor expansion of phi1 in delta 1.379 * [backup-simplify]: Simplify phi1 into phi1 1.379 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.379 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.380 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.380 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.380 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.380 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.380 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.380 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.380 * [taylor]: Taking taylor expansion of -1 in delta 1.380 * [backup-simplify]: Simplify -1 into -1 1.380 * [taylor]: Taking taylor expansion of delta in delta 1.380 * [backup-simplify]: Simplify 0 into 0 1.380 * [backup-simplify]: Simplify 1 into 1 1.381 * [backup-simplify]: Simplify (/ -1 1) into -1 1.381 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.381 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 1.381 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.381 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.381 * [taylor]: Taking taylor expansion of -1 in delta 1.381 * [backup-simplify]: Simplify -1 into -1 1.381 * [taylor]: Taking taylor expansion of phi1 in delta 1.381 * [backup-simplify]: Simplify phi1 into phi1 1.381 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.381 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.381 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.381 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 1.381 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.381 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.381 * [taylor]: Taking taylor expansion of -1 in delta 1.381 * [backup-simplify]: Simplify -1 into -1 1.381 * [taylor]: Taking taylor expansion of theta in delta 1.381 * [backup-simplify]: Simplify theta into theta 1.381 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.381 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.381 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.381 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 1.381 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.381 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.382 * [taylor]: Taking taylor expansion of -1 in delta 1.382 * [backup-simplify]: Simplify -1 into -1 1.382 * [taylor]: Taking taylor expansion of phi1 in delta 1.382 * [backup-simplify]: Simplify phi1 into phi1 1.382 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.382 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.382 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.382 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.382 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.382 * [taylor]: Taking taylor expansion of -1 in delta 1.382 * [backup-simplify]: Simplify -1 into -1 1.382 * [taylor]: Taking taylor expansion of delta in delta 1.382 * [backup-simplify]: Simplify 0 into 0 1.382 * [backup-simplify]: Simplify 1 into 1 1.382 * [backup-simplify]: Simplify (/ -1 1) into -1 1.383 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.383 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in delta 1.383 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.383 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.383 * [taylor]: Taking taylor expansion of -1 in delta 1.383 * [backup-simplify]: Simplify -1 into -1 1.383 * [taylor]: Taking taylor expansion of delta in delta 1.383 * [backup-simplify]: Simplify 0 into 0 1.383 * [backup-simplify]: Simplify 1 into 1 1.383 * [backup-simplify]: Simplify (/ -1 1) into -1 1.383 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.383 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in delta 1.383 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 1.383 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 1.383 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.383 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.383 * [taylor]: Taking taylor expansion of -1 in delta 1.384 * [backup-simplify]: Simplify -1 into -1 1.384 * [taylor]: Taking taylor expansion of phi1 in delta 1.384 * [backup-simplify]: Simplify phi1 into phi1 1.384 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.384 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.384 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.384 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.384 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.384 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.384 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.384 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.384 * [taylor]: Taking taylor expansion of -1 in delta 1.384 * [backup-simplify]: Simplify -1 into -1 1.384 * [taylor]: Taking taylor expansion of delta in delta 1.384 * [backup-simplify]: Simplify 0 into 0 1.384 * [backup-simplify]: Simplify 1 into 1 1.385 * [backup-simplify]: Simplify (/ -1 1) into -1 1.385 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.385 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 1.385 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.385 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.385 * [taylor]: Taking taylor expansion of -1 in delta 1.385 * [backup-simplify]: Simplify -1 into -1 1.385 * [taylor]: Taking taylor expansion of phi1 in delta 1.385 * [backup-simplify]: Simplify phi1 into phi1 1.385 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.385 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.385 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.386 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 1.386 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.386 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.386 * [taylor]: Taking taylor expansion of -1 in delta 1.386 * [backup-simplify]: Simplify -1 into -1 1.386 * [taylor]: Taking taylor expansion of theta in delta 1.386 * [backup-simplify]: Simplify theta into theta 1.386 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.386 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.386 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.386 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 1.386 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.386 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.386 * [taylor]: Taking taylor expansion of -1 in delta 1.386 * [backup-simplify]: Simplify -1 into -1 1.386 * [taylor]: Taking taylor expansion of phi1 in delta 1.386 * [backup-simplify]: Simplify phi1 into phi1 1.386 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.386 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.386 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.386 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.386 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.386 * [taylor]: Taking taylor expansion of -1 in delta 1.386 * [backup-simplify]: Simplify -1 into -1 1.386 * [taylor]: Taking taylor expansion of delta in delta 1.386 * [backup-simplify]: Simplify 0 into 0 1.387 * [backup-simplify]: Simplify 1 into 1 1.387 * [backup-simplify]: Simplify (/ -1 1) into -1 1.387 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.387 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 1.388 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 1.388 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.388 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.388 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.388 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.388 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.389 * [backup-simplify]: Simplify (- 0) into 0 1.389 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.389 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.389 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.389 * [backup-simplify]: Simplify (- 0) into 0 1.389 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.390 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 1.390 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 1.390 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 1.391 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 1.392 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.393 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.393 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in phi1 1.393 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.393 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.393 * [taylor]: Taking taylor expansion of -1 in phi1 1.393 * [backup-simplify]: Simplify -1 into -1 1.393 * [taylor]: Taking taylor expansion of delta in phi1 1.393 * [backup-simplify]: Simplify delta into delta 1.393 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.393 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.393 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.393 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in phi1 1.393 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 1.393 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 1.393 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.393 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.393 * [taylor]: Taking taylor expansion of -1 in phi1 1.394 * [backup-simplify]: Simplify -1 into -1 1.394 * [taylor]: Taking taylor expansion of phi1 in phi1 1.394 * [backup-simplify]: Simplify 0 into 0 1.394 * [backup-simplify]: Simplify 1 into 1 1.394 * [backup-simplify]: Simplify (/ -1 1) into -1 1.394 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.394 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.394 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.394 * [taylor]: Taking taylor expansion of -1 in phi1 1.394 * [backup-simplify]: Simplify -1 into -1 1.394 * [taylor]: Taking taylor expansion of delta in phi1 1.395 * [backup-simplify]: Simplify delta into delta 1.395 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.395 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.395 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.395 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 1.395 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.395 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.395 * [taylor]: Taking taylor expansion of -1 in phi1 1.395 * [backup-simplify]: Simplify -1 into -1 1.395 * [taylor]: Taking taylor expansion of phi1 in phi1 1.395 * [backup-simplify]: Simplify 0 into 0 1.395 * [backup-simplify]: Simplify 1 into 1 1.395 * [backup-simplify]: Simplify (/ -1 1) into -1 1.396 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.396 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 1.396 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.396 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.396 * [taylor]: Taking taylor expansion of -1 in phi1 1.396 * [backup-simplify]: Simplify -1 into -1 1.396 * [taylor]: Taking taylor expansion of theta in phi1 1.396 * [backup-simplify]: Simplify theta into theta 1.396 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.396 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.396 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.396 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 1.396 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.396 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.396 * [taylor]: Taking taylor expansion of -1 in phi1 1.396 * [backup-simplify]: Simplify -1 into -1 1.396 * [taylor]: Taking taylor expansion of phi1 in phi1 1.396 * [backup-simplify]: Simplify 0 into 0 1.396 * [backup-simplify]: Simplify 1 into 1 1.397 * [backup-simplify]: Simplify (/ -1 1) into -1 1.397 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.397 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.397 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.397 * [taylor]: Taking taylor expansion of -1 in phi1 1.397 * [backup-simplify]: Simplify -1 into -1 1.397 * [taylor]: Taking taylor expansion of delta in phi1 1.397 * [backup-simplify]: Simplify delta into delta 1.397 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.397 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.397 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.398 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.398 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.398 * [backup-simplify]: Simplify (- 0) into 0 1.398 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.399 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 1.399 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.399 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.399 * [backup-simplify]: Simplify (- 0) into 0 1.399 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.400 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 1.400 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.400 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.400 * [backup-simplify]: Simplify (- 0) into 0 1.401 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.401 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.401 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.401 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.401 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 1.401 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 1.402 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 1.403 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 1.403 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.404 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.404 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in theta 1.404 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.404 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.404 * [taylor]: Taking taylor expansion of -1 in theta 1.404 * [backup-simplify]: Simplify -1 into -1 1.404 * [taylor]: Taking taylor expansion of delta in theta 1.405 * [backup-simplify]: Simplify delta into delta 1.405 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.405 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.405 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.405 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in theta 1.405 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 1.405 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 1.405 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.405 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.405 * [taylor]: Taking taylor expansion of -1 in theta 1.405 * [backup-simplify]: Simplify -1 into -1 1.405 * [taylor]: Taking taylor expansion of phi1 in theta 1.405 * [backup-simplify]: Simplify phi1 into phi1 1.405 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.405 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.405 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.405 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.405 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.406 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.406 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.406 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.406 * [taylor]: Taking taylor expansion of -1 in theta 1.406 * [backup-simplify]: Simplify -1 into -1 1.406 * [taylor]: Taking taylor expansion of delta in theta 1.406 * [backup-simplify]: Simplify delta into delta 1.406 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.406 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.406 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.406 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 1.406 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.406 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.406 * [taylor]: Taking taylor expansion of -1 in theta 1.406 * [backup-simplify]: Simplify -1 into -1 1.406 * [taylor]: Taking taylor expansion of phi1 in theta 1.406 * [backup-simplify]: Simplify phi1 into phi1 1.406 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.406 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.406 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.406 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 1.406 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.406 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.406 * [taylor]: Taking taylor expansion of -1 in theta 1.406 * [backup-simplify]: Simplify -1 into -1 1.407 * [taylor]: Taking taylor expansion of theta in theta 1.407 * [backup-simplify]: Simplify 0 into 0 1.407 * [backup-simplify]: Simplify 1 into 1 1.407 * [backup-simplify]: Simplify (/ -1 1) into -1 1.407 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.407 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 1.407 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.407 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.407 * [taylor]: Taking taylor expansion of -1 in theta 1.407 * [backup-simplify]: Simplify -1 into -1 1.407 * [taylor]: Taking taylor expansion of phi1 in theta 1.407 * [backup-simplify]: Simplify phi1 into phi1 1.408 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.408 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.408 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.408 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.408 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.408 * [taylor]: Taking taylor expansion of -1 in theta 1.408 * [backup-simplify]: Simplify -1 into -1 1.408 * [taylor]: Taking taylor expansion of delta in theta 1.408 * [backup-simplify]: Simplify delta into delta 1.408 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.408 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.408 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.408 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.408 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.409 * [backup-simplify]: Simplify (- 0) into 0 1.409 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.409 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 1.409 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.409 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.410 * [backup-simplify]: Simplify (- 0) into 0 1.410 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.410 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 1.410 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.410 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.410 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.411 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.411 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.411 * [backup-simplify]: Simplify (- 0) into 0 1.411 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.411 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.411 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.412 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.412 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 1.412 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 1.412 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 1.413 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 1.414 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.415 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.416 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 1.416 * [backup-simplify]: Simplify (+ 0) into 0 1.417 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.417 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.418 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.419 * [backup-simplify]: Simplify (+ 0 0) into 0 1.419 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 1.419 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 1.420 * [backup-simplify]: Simplify (+ 0) into 0 1.420 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.420 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.422 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.422 * [backup-simplify]: Simplify (- 0) into 0 1.423 * [backup-simplify]: Simplify (+ 0 0) into 0 1.423 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.423 * [backup-simplify]: Simplify (+ 0) into 0 1.424 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.424 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.425 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.426 * [backup-simplify]: Simplify (- 0) into 0 1.426 * [backup-simplify]: Simplify (+ 0 0) into 0 1.426 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 1.427 * [backup-simplify]: Simplify (+ 0) into 0 1.427 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.429 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.429 * [backup-simplify]: Simplify (+ 0 0) into 0 1.429 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 1.430 * [backup-simplify]: Simplify (+ 0 0) into 0 1.430 * [backup-simplify]: Simplify (- 0) into 0 1.430 * [backup-simplify]: Simplify (+ 0 0) into 0 1.430 * [taylor]: Taking taylor expansion of 0 in phi1 1.430 * [backup-simplify]: Simplify 0 into 0 1.430 * [taylor]: Taking taylor expansion of 0 in theta 1.430 * [backup-simplify]: Simplify 0 into 0 1.431 * [backup-simplify]: Simplify 0 into 0 1.431 * [backup-simplify]: Simplify (+ 0) into 0 1.431 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.432 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.433 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.433 * [backup-simplify]: Simplify (- 0) into 0 1.434 * [backup-simplify]: Simplify (+ 0 0) into 0 1.434 * [backup-simplify]: Simplify (+ 0) into 0 1.434 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.435 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.436 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.436 * [backup-simplify]: Simplify (- 0) into 0 1.437 * [backup-simplify]: Simplify (+ 0 0) into 0 1.437 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 1.437 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 1.438 * [backup-simplify]: Simplify (+ 0) into 0 1.438 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.438 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.440 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.440 * [backup-simplify]: Simplify (+ 0 0) into 0 1.440 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.441 * [backup-simplify]: Simplify (+ 0) into 0 1.441 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.441 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.443 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.443 * [backup-simplify]: Simplify (- 0) into 0 1.444 * [backup-simplify]: Simplify (+ 0 0) into 0 1.444 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 1.444 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 1.445 * [backup-simplify]: Simplify (+ 0 0) into 0 1.445 * [backup-simplify]: Simplify (- 0) into 0 1.445 * [backup-simplify]: Simplify (+ 0 0) into 0 1.445 * [taylor]: Taking taylor expansion of 0 in theta 1.445 * [backup-simplify]: Simplify 0 into 0 1.445 * [backup-simplify]: Simplify 0 into 0 1.446 * [backup-simplify]: Simplify (+ 0) into 0 1.446 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.446 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.448 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.448 * [backup-simplify]: Simplify (- 0) into 0 1.448 * [backup-simplify]: Simplify (+ 0 0) into 0 1.449 * [backup-simplify]: Simplify (+ 0) into 0 1.449 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.449 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.451 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.451 * [backup-simplify]: Simplify (- 0) into 0 1.451 * [backup-simplify]: Simplify (+ 0 0) into 0 1.452 * [backup-simplify]: Simplify (+ 0) into 0 1.452 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.452 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.454 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.454 * [backup-simplify]: Simplify (+ 0 0) into 0 1.454 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 1.454 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 1.455 * [backup-simplify]: Simplify (+ 0) into 0 1.455 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.456 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.456 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.457 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.457 * [backup-simplify]: Simplify (+ 0 0) into 0 1.458 * [backup-simplify]: Simplify (+ 0) into 0 1.458 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.458 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.459 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.460 * [backup-simplify]: Simplify (- 0) into 0 1.460 * [backup-simplify]: Simplify (+ 0 0) into 0 1.460 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.461 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 1.461 * [backup-simplify]: Simplify (+ 0) into 0 1.462 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.462 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.463 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.463 * [backup-simplify]: Simplify (+ 0 0) into 0 1.464 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 1.464 * [backup-simplify]: Simplify (+ 0 0) into 0 1.465 * [backup-simplify]: Simplify (- 0) into 0 1.465 * [backup-simplify]: Simplify (+ 0 0) into 0 1.465 * [backup-simplify]: Simplify 0 into 0 1.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.466 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.468 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.468 * [backup-simplify]: Simplify (+ 0 0) into 0 1.469 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 1.470 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.471 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.471 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.473 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.473 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.473 * [backup-simplify]: Simplify (- 0) into 0 1.474 * [backup-simplify]: Simplify (+ 0 0) into 0 1.474 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 1.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.476 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.476 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.478 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.478 * [backup-simplify]: Simplify (- 0) into 0 1.478 * [backup-simplify]: Simplify (+ 0 0) into 0 1.479 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 1.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.481 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.481 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.482 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.483 * [backup-simplify]: Simplify (+ 0 0) into 0 1.483 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 1.484 * [backup-simplify]: Simplify (+ 0 0) into 0 1.484 * [backup-simplify]: Simplify (- 0) into 0 1.484 * [backup-simplify]: Simplify (+ 0 0) into 0 1.484 * [taylor]: Taking taylor expansion of 0 in phi1 1.484 * [backup-simplify]: Simplify 0 into 0 1.485 * [taylor]: Taking taylor expansion of 0 in theta 1.485 * [backup-simplify]: Simplify 0 into 0 1.485 * [backup-simplify]: Simplify 0 into 0 1.485 * [taylor]: Taking taylor expansion of 0 in theta 1.485 * [backup-simplify]: Simplify 0 into 0 1.485 * [backup-simplify]: Simplify 0 into 0 1.486 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.486 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.487 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.487 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.488 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.488 * [backup-simplify]: Simplify (- 0) into 0 1.489 * [backup-simplify]: Simplify (+ 0 0) into 0 1.489 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.490 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.490 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.491 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.492 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.492 * [backup-simplify]: Simplify (- 0) into 0 1.493 * [backup-simplify]: Simplify (+ 0 0) into 0 1.493 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 1.494 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.495 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.496 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.496 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.497 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.497 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.498 * [backup-simplify]: Simplify (+ 0 0) into 0 1.498 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 1.499 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.500 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.500 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.504 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.505 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.506 * [backup-simplify]: Simplify (- 0) into 0 1.506 * [backup-simplify]: Simplify (+ 0 0) into 0 1.507 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 1.508 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 1.508 * [backup-simplify]: Simplify (+ 0 0) into 0 1.508 * [backup-simplify]: Simplify (- 0) into 0 1.509 * [backup-simplify]: Simplify (+ 0 0) into 0 1.509 * [taylor]: Taking taylor expansion of 0 in theta 1.509 * [backup-simplify]: Simplify 0 into 0 1.509 * [backup-simplify]: Simplify 0 into 0 1.510 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) 1.510 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 2 2) 1.511 * [backup-simplify]: Simplify (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) into (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.511 * [approximate]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in (phi1 delta theta) around 0 1.511 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in theta 1.511 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.511 * [taylor]: Taking taylor expansion of phi1 in theta 1.511 * [backup-simplify]: Simplify phi1 into phi1 1.511 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.511 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.511 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in theta 1.511 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 1.511 * [taylor]: Taking taylor expansion of (sin delta) in theta 1.511 * [taylor]: Taking taylor expansion of delta in theta 1.511 * [backup-simplify]: Simplify delta into delta 1.511 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.511 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.511 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 1.511 * [taylor]: Taking taylor expansion of (cos phi1) in theta 1.511 * [taylor]: Taking taylor expansion of phi1 in theta 1.512 * [backup-simplify]: Simplify phi1 into phi1 1.512 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.512 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.512 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.512 * [taylor]: Taking taylor expansion of theta in theta 1.512 * [backup-simplify]: Simplify 0 into 0 1.512 * [backup-simplify]: Simplify 1 into 1 1.512 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 1.512 * [taylor]: Taking taylor expansion of (sin phi1) in theta 1.512 * [taylor]: Taking taylor expansion of phi1 in theta 1.512 * [backup-simplify]: Simplify phi1 into phi1 1.512 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.512 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.512 * [taylor]: Taking taylor expansion of (cos delta) in theta 1.512 * [taylor]: Taking taylor expansion of delta in theta 1.512 * [backup-simplify]: Simplify delta into delta 1.512 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.512 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.512 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in delta 1.512 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.512 * [taylor]: Taking taylor expansion of phi1 in delta 1.512 * [backup-simplify]: Simplify phi1 into phi1 1.512 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.512 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.512 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in delta 1.512 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 1.513 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.513 * [taylor]: Taking taylor expansion of delta in delta 1.513 * [backup-simplify]: Simplify 0 into 0 1.513 * [backup-simplify]: Simplify 1 into 1 1.513 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 1.513 * [taylor]: Taking taylor expansion of (cos phi1) in delta 1.513 * [taylor]: Taking taylor expansion of phi1 in delta 1.513 * [backup-simplify]: Simplify phi1 into phi1 1.513 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.513 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.513 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.513 * [taylor]: Taking taylor expansion of theta in delta 1.513 * [backup-simplify]: Simplify theta into theta 1.513 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.513 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.513 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 1.513 * [taylor]: Taking taylor expansion of (sin phi1) in delta 1.513 * [taylor]: Taking taylor expansion of phi1 in delta 1.513 * [backup-simplify]: Simplify phi1 into phi1 1.513 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 1.513 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 1.513 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.513 * [taylor]: Taking taylor expansion of delta in delta 1.513 * [backup-simplify]: Simplify 0 into 0 1.513 * [backup-simplify]: Simplify 1 into 1 1.513 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in phi1 1.513 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.513 * [taylor]: Taking taylor expansion of phi1 in phi1 1.513 * [backup-simplify]: Simplify 0 into 0 1.514 * [backup-simplify]: Simplify 1 into 1 1.514 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in phi1 1.514 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 1.514 * [taylor]: Taking taylor expansion of (sin delta) in phi1 1.514 * [taylor]: Taking taylor expansion of delta in phi1 1.514 * [backup-simplify]: Simplify delta into delta 1.514 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.514 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.514 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 1.514 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.514 * [taylor]: Taking taylor expansion of phi1 in phi1 1.514 * [backup-simplify]: Simplify 0 into 0 1.514 * [backup-simplify]: Simplify 1 into 1 1.514 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.514 * [taylor]: Taking taylor expansion of theta in phi1 1.514 * [backup-simplify]: Simplify theta into theta 1.514 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.514 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.514 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 1.514 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.514 * [taylor]: Taking taylor expansion of phi1 in phi1 1.514 * [backup-simplify]: Simplify 0 into 0 1.514 * [backup-simplify]: Simplify 1 into 1 1.514 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.514 * [taylor]: Taking taylor expansion of delta in phi1 1.514 * [backup-simplify]: Simplify delta into delta 1.514 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.514 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.514 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in phi1 1.515 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.515 * [taylor]: Taking taylor expansion of phi1 in phi1 1.515 * [backup-simplify]: Simplify 0 into 0 1.515 * [backup-simplify]: Simplify 1 into 1 1.515 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in phi1 1.515 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 1.515 * [taylor]: Taking taylor expansion of (sin delta) in phi1 1.515 * [taylor]: Taking taylor expansion of delta in phi1 1.515 * [backup-simplify]: Simplify delta into delta 1.515 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.515 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.515 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 1.515 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 1.515 * [taylor]: Taking taylor expansion of phi1 in phi1 1.515 * [backup-simplify]: Simplify 0 into 0 1.515 * [backup-simplify]: Simplify 1 into 1 1.515 * [taylor]: Taking taylor expansion of (cos theta) in phi1 1.515 * [taylor]: Taking taylor expansion of theta in phi1 1.515 * [backup-simplify]: Simplify theta into theta 1.515 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.515 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.515 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 1.515 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 1.515 * [taylor]: Taking taylor expansion of phi1 in phi1 1.515 * [backup-simplify]: Simplify 0 into 0 1.515 * [backup-simplify]: Simplify 1 into 1 1.515 * [taylor]: Taking taylor expansion of (cos delta) in phi1 1.515 * [taylor]: Taking taylor expansion of delta in phi1 1.515 * [backup-simplify]: Simplify delta into delta 1.515 * [backup-simplify]: Simplify (cos delta) into (cos delta) 1.515 * [backup-simplify]: Simplify (sin delta) into (sin delta) 1.516 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 1.516 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 1.516 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 1.516 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.516 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.516 * [backup-simplify]: Simplify (- 0) into 0 1.517 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.517 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 1.517 * [backup-simplify]: Simplify (* (sin delta) (cos theta)) into (* (sin delta) (cos theta)) 1.517 * [backup-simplify]: Simplify (* (cos delta) 1) into (cos delta) 1.517 * [backup-simplify]: Simplify (* (sin delta) 0) into 0 1.517 * [backup-simplify]: Simplify (- 0) into 0 1.517 * [backup-simplify]: Simplify (+ (cos delta) 0) into (cos delta) 1.517 * [backup-simplify]: Simplify (* 0 (cos delta)) into 0 1.518 * [backup-simplify]: Simplify (+ (* (sin delta) (cos theta)) 0) into (* (sin delta) (cos theta)) 1.518 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 1.518 * [taylor]: Taking taylor expansion of 0 in delta 1.518 * [backup-simplify]: Simplify 0 into 0 1.518 * [taylor]: Taking taylor expansion of 0 in theta 1.518 * [backup-simplify]: Simplify 0 into 0 1.518 * [backup-simplify]: Simplify 0 into 0 1.518 * [backup-simplify]: Simplify (+ 0) into 0 1.519 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.520 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 1.520 * [backup-simplify]: Simplify (- 0) into 0 1.521 * [backup-simplify]: Simplify (+ 0 0) into 0 1.521 * [backup-simplify]: Simplify (+ 0) into 0 1.522 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 1.522 * [backup-simplify]: Simplify (+ 0) into 0 1.523 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 1.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.524 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 1.525 * [backup-simplify]: Simplify (+ 0 0) into 0 1.525 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 (cos theta))) into 0 1.525 * [backup-simplify]: Simplify (+ 0) into 0 1.526 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 1)) into 0 1.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.527 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 0)) into 0 1.527 * [backup-simplify]: Simplify (- 0) into 0 1.527 * [backup-simplify]: Simplify (+ 0 0) into 0 1.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.528 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos delta))) into (cos delta) 1.528 * [backup-simplify]: Simplify (+ 0 (cos delta)) into (cos delta) 1.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.529 * [backup-simplify]: Simplify (+ (* 0 (cos delta)) (* 1 (* (sin delta) (cos theta)))) into (* (sin delta) (cos theta)) 1.529 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 1.529 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.529 * [taylor]: Taking taylor expansion of delta in delta 1.529 * [backup-simplify]: Simplify 0 into 0 1.529 * [backup-simplify]: Simplify 1 into 1 1.529 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.529 * [taylor]: Taking taylor expansion of theta in delta 1.529 * [backup-simplify]: Simplify theta into theta 1.529 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.529 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.529 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.529 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.529 * [backup-simplify]: Simplify (- 0) into 0 1.529 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.529 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 1.529 * [taylor]: Taking taylor expansion of 0 in theta 1.529 * [backup-simplify]: Simplify 0 into 0 1.529 * [backup-simplify]: Simplify 0 into 0 1.529 * [taylor]: Taking taylor expansion of 0 in theta 1.529 * [backup-simplify]: Simplify 0 into 0 1.529 * [backup-simplify]: Simplify 0 into 0 1.529 * [backup-simplify]: Simplify 0 into 0 1.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.530 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 1.531 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.531 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 1.531 * [backup-simplify]: Simplify (- 0) into 0 1.531 * [backup-simplify]: Simplify (+ 0 0) into 0 1.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 1.533 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (cos theta)))) into (- (* 1/2 (cos theta))) 1.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.533 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 1.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.534 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 1.534 * [backup-simplify]: Simplify (+ 0 0) into 0 1.535 * [backup-simplify]: Simplify (+ (* (sin delta) (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta)))) into (- (* 1/2 (* (sin delta) (cos theta)))) 1.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.536 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 1))) into 0 1.536 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.537 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 0))) into 0 1.537 * [backup-simplify]: Simplify (- 0) into 0 1.537 * [backup-simplify]: Simplify (+ 0 0) into 0 1.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.538 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos delta)))) into 0 1.538 * [backup-simplify]: Simplify (+ (- (* 1/2 (* (sin delta) (cos theta)))) 0) into (- (* 1/2 (* (sin delta) (cos theta)))) 1.539 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.539 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 1 (cos delta)) (* 0 (* (sin delta) (cos theta))))) into (cos delta) 1.539 * [taylor]: Taking taylor expansion of (cos delta) in delta 1.539 * [taylor]: Taking taylor expansion of delta in delta 1.539 * [backup-simplify]: Simplify 0 into 0 1.539 * [backup-simplify]: Simplify 1 into 1 1.539 * [taylor]: Taking taylor expansion of 1 in theta 1.539 * [backup-simplify]: Simplify 1 into 1 1.539 * [backup-simplify]: Simplify 1 into 1 1.539 * [backup-simplify]: Simplify (+ 0) into 0 1.540 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 1.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.540 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 1.540 * [backup-simplify]: Simplify (- 0) into 0 1.541 * [backup-simplify]: Simplify (+ 0 0) into 0 1.541 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 1.541 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 1.541 * [taylor]: Taking taylor expansion of (cos theta) in theta 1.541 * [taylor]: Taking taylor expansion of theta in theta 1.541 * [backup-simplify]: Simplify 0 into 0 1.541 * [backup-simplify]: Simplify 1 into 1 1.541 * [backup-simplify]: Simplify 1 into 1 1.542 * [taylor]: Taking taylor expansion of 0 in theta 1.542 * [backup-simplify]: Simplify 0 into 0 1.542 * [backup-simplify]: Simplify 0 into 0 1.542 * [backup-simplify]: Simplify 0 into 0 1.542 * [backup-simplify]: Simplify 0 into 0 1.542 * [backup-simplify]: Simplify 0 into 0 1.542 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.543 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 1.544 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 1.544 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 1.544 * [backup-simplify]: Simplify (- 0) into 0 1.544 * [backup-simplify]: Simplify (+ 0 0) into 0 1.545 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.546 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* -1/2 0) (* 0 (cos theta))))) into 0 1.546 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.547 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 1.548 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 1.548 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 1.548 * [backup-simplify]: Simplify (+ 0 0) into 0 1.549 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 (- (* 1/2 (cos theta)))) (+ (* 0 0) (* 0 (cos theta))))) into 0 1.549 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 1.550 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 1.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 1.551 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 1.551 * [backup-simplify]: Simplify (- 0) into 0 1.552 * [backup-simplify]: Simplify (+ 0 0) into 0 1.553 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 1.553 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (cos delta))))) into (- (* 1/6 (cos delta))) 1.553 * [backup-simplify]: Simplify (+ 0 (- (* 1/6 (cos delta)))) into (- (* 1/6 (cos delta))) 1.554 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 1.555 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/6 (cos delta)))) (+ (* 1 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 0 (cos delta)) (* -1/6 (* (sin delta) (cos theta)))))) into (- (* 2/3 (* (sin delta) (cos theta)))) 1.555 * [taylor]: Taking taylor expansion of (- (* 2/3 (* (sin delta) (cos theta)))) in delta 1.555 * [taylor]: Taking taylor expansion of (* 2/3 (* (sin delta) (cos theta))) in delta 1.555 * [taylor]: Taking taylor expansion of 2/3 in delta 1.555 * [backup-simplify]: Simplify 2/3 into 2/3 1.555 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in delta 1.555 * [taylor]: Taking taylor expansion of (sin delta) in delta 1.555 * [taylor]: Taking taylor expansion of delta in delta 1.555 * [backup-simplify]: Simplify 0 into 0 1.555 * [backup-simplify]: Simplify 1 into 1 1.555 * [taylor]: Taking taylor expansion of (cos theta) in delta 1.555 * [taylor]: Taking taylor expansion of theta in delta 1.555 * [backup-simplify]: Simplify theta into theta 1.555 * [backup-simplify]: Simplify (cos theta) into (cos theta) 1.555 * [backup-simplify]: Simplify (sin theta) into (sin theta) 1.555 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 1.555 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 1.555 * [backup-simplify]: Simplify (- 0) into 0 1.556 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 1.556 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 1.556 * [backup-simplify]: Simplify (* 2/3 0) into 0 1.556 * [backup-simplify]: Simplify (- 0) into 0 1.556 * [taylor]: Taking taylor expansion of 0 in theta 1.556 * [backup-simplify]: Simplify 0 into 0 1.556 * [backup-simplify]: Simplify 0 into 0 1.556 * [backup-simplify]: Simplify (+ 0) into 0 1.556 * [taylor]: Taking taylor expansion of 0 in theta 1.556 * [backup-simplify]: Simplify 0 into 0 1.557 * [backup-simplify]: Simplify 0 into 0 1.557 * [backup-simplify]: Simplify (+ (* 1 (* 1 (* delta phi1))) (* 1 (pow (* 1 (* 1 phi1)) 2))) into (+ (pow phi1 2) (* delta phi1)) 1.557 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (cos (/ 1 theta))))))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 1.557 * [approximate]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in (phi1 delta theta) around 0 1.557 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 1.557 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 1.557 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 1.557 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.557 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.557 * [taylor]: Taking taylor expansion of phi1 in theta 1.557 * [backup-simplify]: Simplify phi1 into phi1 1.557 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.557 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.557 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.557 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.558 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.558 * [taylor]: Taking taylor expansion of delta in theta 1.558 * [backup-simplify]: Simplify delta into delta 1.558 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.558 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.558 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.558 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 1.558 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.558 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.558 * [taylor]: Taking taylor expansion of delta in theta 1.558 * [backup-simplify]: Simplify delta into delta 1.558 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.558 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.558 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.558 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 1.558 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.558 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.558 * [taylor]: Taking taylor expansion of theta in theta 1.558 * [backup-simplify]: Simplify 0 into 0 1.558 * [backup-simplify]: Simplify 1 into 1 1.558 * [backup-simplify]: Simplify (/ 1 1) into 1 1.558 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.558 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.558 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.558 * [taylor]: Taking taylor expansion of phi1 in theta 1.558 * [backup-simplify]: Simplify phi1 into phi1 1.558 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.559 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.559 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.559 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.559 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.559 * [taylor]: Taking taylor expansion of phi1 in theta 1.559 * [backup-simplify]: Simplify phi1 into phi1 1.559 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.559 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.559 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.559 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 1.559 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 1.559 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 1.559 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.559 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.559 * [taylor]: Taking taylor expansion of phi1 in delta 1.559 * [backup-simplify]: Simplify phi1 into phi1 1.559 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.559 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.559 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.559 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.559 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.559 * [taylor]: Taking taylor expansion of delta in delta 1.559 * [backup-simplify]: Simplify 0 into 0 1.559 * [backup-simplify]: Simplify 1 into 1 1.559 * [backup-simplify]: Simplify (/ 1 1) into 1 1.559 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.559 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 1.560 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.560 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.560 * [taylor]: Taking taylor expansion of delta in delta 1.560 * [backup-simplify]: Simplify 0 into 0 1.560 * [backup-simplify]: Simplify 1 into 1 1.560 * [backup-simplify]: Simplify (/ 1 1) into 1 1.560 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.560 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 1.560 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.560 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.560 * [taylor]: Taking taylor expansion of theta in delta 1.560 * [backup-simplify]: Simplify theta into theta 1.560 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.560 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.560 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.560 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.560 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.560 * [taylor]: Taking taylor expansion of phi1 in delta 1.560 * [backup-simplify]: Simplify phi1 into phi1 1.560 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.560 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.560 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.560 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.560 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.560 * [taylor]: Taking taylor expansion of phi1 in delta 1.560 * [backup-simplify]: Simplify phi1 into phi1 1.560 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.560 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.560 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.560 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in phi1 1.561 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 1.561 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 1.561 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.561 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.561 * [taylor]: Taking taylor expansion of phi1 in phi1 1.561 * [backup-simplify]: Simplify 0 into 0 1.561 * [backup-simplify]: Simplify 1 into 1 1.561 * [backup-simplify]: Simplify (/ 1 1) into 1 1.561 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.561 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.561 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.561 * [taylor]: Taking taylor expansion of delta in phi1 1.561 * [backup-simplify]: Simplify delta into delta 1.561 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.561 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.561 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.561 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 1.561 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.561 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.561 * [taylor]: Taking taylor expansion of delta in phi1 1.561 * [backup-simplify]: Simplify delta into delta 1.561 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.561 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.561 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.561 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 1.561 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.561 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.561 * [taylor]: Taking taylor expansion of theta in phi1 1.561 * [backup-simplify]: Simplify theta into theta 1.561 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.562 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.562 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.562 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.562 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.562 * [taylor]: Taking taylor expansion of phi1 in phi1 1.562 * [backup-simplify]: Simplify 0 into 0 1.562 * [backup-simplify]: Simplify 1 into 1 1.562 * [backup-simplify]: Simplify (/ 1 1) into 1 1.562 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.562 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.562 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.562 * [taylor]: Taking taylor expansion of phi1 in phi1 1.562 * [backup-simplify]: Simplify 0 into 0 1.562 * [backup-simplify]: Simplify 1 into 1 1.562 * [backup-simplify]: Simplify (/ 1 1) into 1 1.562 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.562 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in phi1 1.562 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 1.562 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 1.562 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.562 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.562 * [taylor]: Taking taylor expansion of phi1 in phi1 1.563 * [backup-simplify]: Simplify 0 into 0 1.563 * [backup-simplify]: Simplify 1 into 1 1.563 * [backup-simplify]: Simplify (/ 1 1) into 1 1.563 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.563 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 1.563 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.563 * [taylor]: Taking taylor expansion of delta in phi1 1.563 * [backup-simplify]: Simplify delta into delta 1.563 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.563 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.563 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.563 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 1.563 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 1.563 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 1.563 * [taylor]: Taking taylor expansion of delta in phi1 1.563 * [backup-simplify]: Simplify delta into delta 1.563 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.563 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.563 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.563 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 1.563 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 1.563 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 1.563 * [taylor]: Taking taylor expansion of theta in phi1 1.563 * [backup-simplify]: Simplify theta into theta 1.563 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.563 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.563 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.563 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 1.564 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.564 * [taylor]: Taking taylor expansion of phi1 in phi1 1.564 * [backup-simplify]: Simplify 0 into 0 1.564 * [backup-simplify]: Simplify 1 into 1 1.564 * [backup-simplify]: Simplify (/ 1 1) into 1 1.564 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.564 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 1.564 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.564 * [taylor]: Taking taylor expansion of phi1 in phi1 1.564 * [backup-simplify]: Simplify 0 into 0 1.564 * [backup-simplify]: Simplify 1 into 1 1.564 * [backup-simplify]: Simplify (/ 1 1) into 1 1.564 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.564 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.564 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.565 * [backup-simplify]: Simplify (- 0) into 0 1.565 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.565 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 1.565 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.565 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.565 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.565 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.565 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.565 * [backup-simplify]: Simplify (- 0) into 0 1.565 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.566 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 1.566 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 1.566 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 1.566 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 1.566 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 1.566 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 1.566 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 1.566 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.566 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.566 * [taylor]: Taking taylor expansion of phi1 in delta 1.566 * [backup-simplify]: Simplify phi1 into phi1 1.566 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.566 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.566 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.567 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 1.567 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.567 * [taylor]: Taking taylor expansion of delta in delta 1.567 * [backup-simplify]: Simplify 0 into 0 1.567 * [backup-simplify]: Simplify 1 into 1 1.567 * [backup-simplify]: Simplify (/ 1 1) into 1 1.567 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.567 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 1.567 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 1.567 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 1.567 * [taylor]: Taking taylor expansion of delta in delta 1.567 * [backup-simplify]: Simplify 0 into 0 1.567 * [backup-simplify]: Simplify 1 into 1 1.567 * [backup-simplify]: Simplify (/ 1 1) into 1 1.567 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.567 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 1.567 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 1.567 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 1.567 * [taylor]: Taking taylor expansion of theta in delta 1.567 * [backup-simplify]: Simplify theta into theta 1.567 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 1.567 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.568 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 1.568 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 1.568 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.568 * [taylor]: Taking taylor expansion of phi1 in delta 1.568 * [backup-simplify]: Simplify phi1 into phi1 1.568 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.568 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.568 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.568 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 1.568 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 1.568 * [taylor]: Taking taylor expansion of phi1 in delta 1.568 * [backup-simplify]: Simplify phi1 into phi1 1.568 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.568 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.568 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.568 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.568 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.568 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.568 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 1.568 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 1.568 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 1.569 * [backup-simplify]: Simplify (- 0) into 0 1.569 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 1.569 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.569 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.569 * [backup-simplify]: Simplify (- 0) into 0 1.569 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.569 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 1.569 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 1.570 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 1.570 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.570 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.570 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.570 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 1.570 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 1.570 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 1.570 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 1.570 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.570 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.570 * [taylor]: Taking taylor expansion of phi1 in theta 1.570 * [backup-simplify]: Simplify phi1 into phi1 1.570 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.570 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.570 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.570 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 1.570 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.570 * [taylor]: Taking taylor expansion of delta in theta 1.570 * [backup-simplify]: Simplify delta into delta 1.570 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.571 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.571 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.571 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 1.571 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 1.571 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 1.571 * [taylor]: Taking taylor expansion of delta in theta 1.571 * [backup-simplify]: Simplify delta into delta 1.571 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 1.571 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 1.571 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 1.571 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 1.571 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 1.571 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 1.571 * [taylor]: Taking taylor expansion of theta in theta 1.571 * [backup-simplify]: Simplify 0 into 0 1.571 * [backup-simplify]: Simplify 1 into 1 1.571 * [backup-simplify]: Simplify (/ 1 1) into 1 1.571 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 1.571 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 1.571 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.571 * [taylor]: Taking taylor expansion of phi1 in theta 1.571 * [backup-simplify]: Simplify phi1 into phi1 1.571 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.572 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.572 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.572 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 1.572 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 1.572 * [taylor]: Taking taylor expansion of phi1 in theta 1.572 * [backup-simplify]: Simplify phi1 into phi1 1.572 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.572 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 1.572 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 1.572 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.572 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.572 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.572 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 1.572 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 1.572 * [backup-simplify]: Simplify (- 0) into 0 1.572 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 1.572 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 1.573 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 1.573 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 1.573 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 1.573 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 1.573 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 1.573 * [backup-simplify]: Simplify (- 0) into 0 1.573 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 1.573 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 1.573 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 1.574 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 1.574 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 1.574 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 1.574 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 1.574 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 1.574 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 1.575 * [backup-simplify]: Simplify (+ 0) into 0 1.575 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.575 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.576 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.576 * [backup-simplify]: Simplify (- 0) into 0 1.576 * [backup-simplify]: Simplify (+ 0 0) into 0 1.576 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 1.577 * [backup-simplify]: Simplify (+ 0) into 0 1.577 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.577 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.578 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.578 * [backup-simplify]: Simplify (- 0) into 0 1.578 * [backup-simplify]: Simplify (+ 0 0) into 0 1.579 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 1.579 * [backup-simplify]: Simplify (+ 0) into 0 1.580 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.580 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.582 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.582 * [backup-simplify]: Simplify (+ 0 0) into 0 1.582 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 1.583 * [backup-simplify]: Simplify (+ 0 0) into 0 1.584 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.584 * [taylor]: Taking taylor expansion of 0 in delta 1.584 * [backup-simplify]: Simplify 0 into 0 1.584 * [taylor]: Taking taylor expansion of 0 in theta 1.584 * [backup-simplify]: Simplify 0 into 0 1.584 * [backup-simplify]: Simplify 0 into 0 1.584 * [backup-simplify]: Simplify (+ 0) into 0 1.585 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.585 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.586 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.587 * [backup-simplify]: Simplify (+ 0 0) into 0 1.587 * [backup-simplify]: Simplify (+ 0) into 0 1.587 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.588 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.589 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.589 * [backup-simplify]: Simplify (+ 0 0) into 0 1.589 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 1.590 * [backup-simplify]: Simplify (+ 0) into 0 1.590 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.590 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.592 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.592 * [backup-simplify]: Simplify (- 0) into 0 1.592 * [backup-simplify]: Simplify (+ 0 0) into 0 1.593 * [backup-simplify]: Simplify (+ 0) into 0 1.593 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 1.593 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 1.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.595 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 1.595 * [backup-simplify]: Simplify (- 0) into 0 1.595 * [backup-simplify]: Simplify (+ 0 0) into 0 1.595 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 1.596 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 1.596 * [backup-simplify]: Simplify (+ 0 0) into 0 1.597 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.597 * [taylor]: Taking taylor expansion of 0 in theta 1.597 * [backup-simplify]: Simplify 0 into 0 1.597 * [backup-simplify]: Simplify 0 into 0 1.597 * [backup-simplify]: Simplify (+ 0) into 0 1.598 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.599 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.599 * [backup-simplify]: Simplify (+ 0 0) into 0 1.600 * [backup-simplify]: Simplify (+ 0) into 0 1.600 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 1.601 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.602 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 1.602 * [backup-simplify]: Simplify (- 0) into 0 1.602 * [backup-simplify]: Simplify (+ 0 0) into 0 1.603 * [backup-simplify]: Simplify (+ 0) into 0 1.603 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 1.603 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.604 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.605 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 1.605 * [backup-simplify]: Simplify (+ 0 0) into 0 1.605 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 1.606 * [backup-simplify]: Simplify (+ 0) into 0 1.606 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 1.606 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.607 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 1.608 * [backup-simplify]: Simplify (- 0) into 0 1.608 * [backup-simplify]: Simplify (+ 0 0) into 0 1.608 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 1.609 * [backup-simplify]: Simplify (+ 0) into 0 1.609 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 1.609 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 1.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.610 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 1.611 * [backup-simplify]: Simplify (+ 0 0) into 0 1.611 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 1.611 * [backup-simplify]: Simplify (+ 0 0) into 0 1.612 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 1.612 * [backup-simplify]: Simplify 0 into 0 1.613 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.614 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.615 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.615 * [backup-simplify]: Simplify (- 0) into 0 1.615 * [backup-simplify]: Simplify (+ 0 0) into 0 1.616 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 1.616 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.617 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.617 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.617 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.618 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.618 * [backup-simplify]: Simplify (- 0) into 0 1.618 * [backup-simplify]: Simplify (+ 0 0) into 0 1.618 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 1.619 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.619 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.620 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.620 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.620 * [backup-simplify]: Simplify (+ 0 0) into 0 1.621 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 1.621 * [backup-simplify]: Simplify (+ 0 0) into 0 1.622 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.622 * [taylor]: Taking taylor expansion of 0 in delta 1.622 * [backup-simplify]: Simplify 0 into 0 1.622 * [taylor]: Taking taylor expansion of 0 in theta 1.622 * [backup-simplify]: Simplify 0 into 0 1.622 * [backup-simplify]: Simplify 0 into 0 1.622 * [taylor]: Taking taylor expansion of 0 in theta 1.622 * [backup-simplify]: Simplify 0 into 0 1.622 * [backup-simplify]: Simplify 0 into 0 1.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.623 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.623 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.626 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.626 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.627 * [backup-simplify]: Simplify (+ 0 0) into 0 1.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.628 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.628 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.628 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.629 * [backup-simplify]: Simplify (+ 0 0) into 0 1.629 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 1.630 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.630 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.630 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.631 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.631 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.631 * [backup-simplify]: Simplify (- 0) into 0 1.631 * [backup-simplify]: Simplify (+ 0 0) into 0 1.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.632 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.632 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.633 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.633 * [backup-simplify]: Simplify (- 0) into 0 1.634 * [backup-simplify]: Simplify (+ 0 0) into 0 1.634 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 1.634 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 1.635 * [backup-simplify]: Simplify (+ 0 0) into 0 1.635 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 1.635 * [taylor]: Taking taylor expansion of 0 in theta 1.635 * [backup-simplify]: Simplify 0 into 0 1.635 * [backup-simplify]: Simplify 0 into 0 1.636 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.636 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (sin (asin (+ (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))) (* (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (cos (/ 1 (- theta)))))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.636 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in (phi1 delta theta) around 0 1.636 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 1.636 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.636 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.636 * [taylor]: Taking taylor expansion of -1 in theta 1.636 * [backup-simplify]: Simplify -1 into -1 1.636 * [taylor]: Taking taylor expansion of phi1 in theta 1.636 * [backup-simplify]: Simplify phi1 into phi1 1.636 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.636 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.636 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.636 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in theta 1.636 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 1.636 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.636 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.636 * [taylor]: Taking taylor expansion of -1 in theta 1.636 * [backup-simplify]: Simplify -1 into -1 1.636 * [taylor]: Taking taylor expansion of phi1 in theta 1.636 * [backup-simplify]: Simplify phi1 into phi1 1.636 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.637 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.637 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.637 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.637 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.637 * [taylor]: Taking taylor expansion of -1 in theta 1.637 * [backup-simplify]: Simplify -1 into -1 1.637 * [taylor]: Taking taylor expansion of delta in theta 1.637 * [backup-simplify]: Simplify delta into delta 1.637 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.637 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.637 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.637 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 1.637 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.637 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.637 * [taylor]: Taking taylor expansion of -1 in theta 1.637 * [backup-simplify]: Simplify -1 into -1 1.637 * [taylor]: Taking taylor expansion of phi1 in theta 1.637 * [backup-simplify]: Simplify phi1 into phi1 1.637 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.637 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.637 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.637 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 1.637 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.637 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.637 * [taylor]: Taking taylor expansion of -1 in theta 1.637 * [backup-simplify]: Simplify -1 into -1 1.637 * [taylor]: Taking taylor expansion of theta in theta 1.637 * [backup-simplify]: Simplify 0 into 0 1.637 * [backup-simplify]: Simplify 1 into 1 1.637 * [backup-simplify]: Simplify (/ -1 1) into -1 1.638 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.638 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.638 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.638 * [taylor]: Taking taylor expansion of -1 in theta 1.638 * [backup-simplify]: Simplify -1 into -1 1.638 * [taylor]: Taking taylor expansion of delta in theta 1.638 * [backup-simplify]: Simplify delta into delta 1.638 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.638 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.638 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.638 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 1.638 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.638 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.638 * [taylor]: Taking taylor expansion of -1 in delta 1.638 * [backup-simplify]: Simplify -1 into -1 1.638 * [taylor]: Taking taylor expansion of phi1 in delta 1.638 * [backup-simplify]: Simplify phi1 into phi1 1.638 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.638 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.638 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.638 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 1.638 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 1.638 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.638 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.638 * [taylor]: Taking taylor expansion of -1 in delta 1.638 * [backup-simplify]: Simplify -1 into -1 1.638 * [taylor]: Taking taylor expansion of phi1 in delta 1.638 * [backup-simplify]: Simplify phi1 into phi1 1.638 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.638 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.638 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.638 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.638 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.638 * [taylor]: Taking taylor expansion of -1 in delta 1.638 * [backup-simplify]: Simplify -1 into -1 1.638 * [taylor]: Taking taylor expansion of delta in delta 1.638 * [backup-simplify]: Simplify 0 into 0 1.638 * [backup-simplify]: Simplify 1 into 1 1.639 * [backup-simplify]: Simplify (/ -1 1) into -1 1.639 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.639 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 1.639 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.639 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.639 * [taylor]: Taking taylor expansion of -1 in delta 1.639 * [backup-simplify]: Simplify -1 into -1 1.639 * [taylor]: Taking taylor expansion of phi1 in delta 1.639 * [backup-simplify]: Simplify phi1 into phi1 1.639 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.639 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.639 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.639 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 1.639 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.639 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.639 * [taylor]: Taking taylor expansion of -1 in delta 1.639 * [backup-simplify]: Simplify -1 into -1 1.639 * [taylor]: Taking taylor expansion of theta in delta 1.639 * [backup-simplify]: Simplify theta into theta 1.639 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.639 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.639 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.639 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.639 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.639 * [taylor]: Taking taylor expansion of -1 in delta 1.639 * [backup-simplify]: Simplify -1 into -1 1.639 * [taylor]: Taking taylor expansion of delta in delta 1.639 * [backup-simplify]: Simplify 0 into 0 1.639 * [backup-simplify]: Simplify 1 into 1 1.640 * [backup-simplify]: Simplify (/ -1 1) into -1 1.640 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.640 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 1.640 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.640 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.640 * [taylor]: Taking taylor expansion of -1 in phi1 1.640 * [backup-simplify]: Simplify -1 into -1 1.640 * [taylor]: Taking taylor expansion of phi1 in phi1 1.640 * [backup-simplify]: Simplify 0 into 0 1.640 * [backup-simplify]: Simplify 1 into 1 1.640 * [backup-simplify]: Simplify (/ -1 1) into -1 1.640 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.640 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in phi1 1.640 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 1.640 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.640 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.640 * [taylor]: Taking taylor expansion of -1 in phi1 1.640 * [backup-simplify]: Simplify -1 into -1 1.640 * [taylor]: Taking taylor expansion of phi1 in phi1 1.640 * [backup-simplify]: Simplify 0 into 0 1.640 * [backup-simplify]: Simplify 1 into 1 1.640 * [backup-simplify]: Simplify (/ -1 1) into -1 1.640 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.641 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.641 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.641 * [taylor]: Taking taylor expansion of -1 in phi1 1.641 * [backup-simplify]: Simplify -1 into -1 1.641 * [taylor]: Taking taylor expansion of delta in phi1 1.641 * [backup-simplify]: Simplify delta into delta 1.641 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.641 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.641 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.641 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 1.641 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.641 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.641 * [taylor]: Taking taylor expansion of -1 in phi1 1.641 * [backup-simplify]: Simplify -1 into -1 1.641 * [taylor]: Taking taylor expansion of phi1 in phi1 1.641 * [backup-simplify]: Simplify 0 into 0 1.641 * [backup-simplify]: Simplify 1 into 1 1.641 * [backup-simplify]: Simplify (/ -1 1) into -1 1.641 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.641 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 1.641 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.641 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.641 * [taylor]: Taking taylor expansion of -1 in phi1 1.641 * [backup-simplify]: Simplify -1 into -1 1.641 * [taylor]: Taking taylor expansion of theta in phi1 1.641 * [backup-simplify]: Simplify theta into theta 1.641 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.641 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.641 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.641 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.641 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.641 * [taylor]: Taking taylor expansion of -1 in phi1 1.641 * [backup-simplify]: Simplify -1 into -1 1.642 * [taylor]: Taking taylor expansion of delta in phi1 1.642 * [backup-simplify]: Simplify delta into delta 1.642 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.642 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.642 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.642 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 1.642 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.642 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.642 * [taylor]: Taking taylor expansion of -1 in phi1 1.642 * [backup-simplify]: Simplify -1 into -1 1.642 * [taylor]: Taking taylor expansion of phi1 in phi1 1.642 * [backup-simplify]: Simplify 0 into 0 1.642 * [backup-simplify]: Simplify 1 into 1 1.642 * [backup-simplify]: Simplify (/ -1 1) into -1 1.642 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.642 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in phi1 1.642 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 1.642 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 1.642 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.642 * [taylor]: Taking taylor expansion of -1 in phi1 1.642 * [backup-simplify]: Simplify -1 into -1 1.642 * [taylor]: Taking taylor expansion of phi1 in phi1 1.642 * [backup-simplify]: Simplify 0 into 0 1.642 * [backup-simplify]: Simplify 1 into 1 1.643 * [backup-simplify]: Simplify (/ -1 1) into -1 1.643 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.643 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 1.643 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.643 * [taylor]: Taking taylor expansion of -1 in phi1 1.643 * [backup-simplify]: Simplify -1 into -1 1.643 * [taylor]: Taking taylor expansion of delta in phi1 1.643 * [backup-simplify]: Simplify delta into delta 1.643 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.643 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.643 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.643 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 1.643 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 1.643 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 1.643 * [taylor]: Taking taylor expansion of -1 in phi1 1.643 * [backup-simplify]: Simplify -1 into -1 1.643 * [taylor]: Taking taylor expansion of phi1 in phi1 1.643 * [backup-simplify]: Simplify 0 into 0 1.643 * [backup-simplify]: Simplify 1 into 1 1.643 * [backup-simplify]: Simplify (/ -1 1) into -1 1.643 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.644 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 1.644 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 1.644 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 1.644 * [taylor]: Taking taylor expansion of -1 in phi1 1.644 * [backup-simplify]: Simplify -1 into -1 1.644 * [taylor]: Taking taylor expansion of theta in phi1 1.644 * [backup-simplify]: Simplify theta into theta 1.644 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.644 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.644 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.644 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 1.644 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 1.644 * [taylor]: Taking taylor expansion of -1 in phi1 1.644 * [backup-simplify]: Simplify -1 into -1 1.644 * [taylor]: Taking taylor expansion of delta in phi1 1.644 * [backup-simplify]: Simplify delta into delta 1.644 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.644 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.644 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.644 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.644 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.644 * [backup-simplify]: Simplify (- 0) into 0 1.644 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.645 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 1.645 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.645 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.645 * [backup-simplify]: Simplify (- 0) into 0 1.645 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.645 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.645 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.645 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.645 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 1.645 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 1.646 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 1.646 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.646 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 1.646 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.646 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.646 * [taylor]: Taking taylor expansion of -1 in delta 1.646 * [backup-simplify]: Simplify -1 into -1 1.646 * [taylor]: Taking taylor expansion of phi1 in delta 1.646 * [backup-simplify]: Simplify phi1 into phi1 1.646 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.646 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.646 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.646 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 1.646 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 1.646 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 1.646 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.646 * [taylor]: Taking taylor expansion of -1 in delta 1.646 * [backup-simplify]: Simplify -1 into -1 1.646 * [taylor]: Taking taylor expansion of phi1 in delta 1.646 * [backup-simplify]: Simplify phi1 into phi1 1.646 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.646 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.646 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.646 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 1.646 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.646 * [taylor]: Taking taylor expansion of -1 in delta 1.646 * [backup-simplify]: Simplify -1 into -1 1.646 * [taylor]: Taking taylor expansion of delta in delta 1.646 * [backup-simplify]: Simplify 0 into 0 1.646 * [backup-simplify]: Simplify 1 into 1 1.647 * [backup-simplify]: Simplify (/ -1 1) into -1 1.647 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.647 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 1.647 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 1.647 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 1.647 * [taylor]: Taking taylor expansion of -1 in delta 1.647 * [backup-simplify]: Simplify -1 into -1 1.647 * [taylor]: Taking taylor expansion of phi1 in delta 1.647 * [backup-simplify]: Simplify phi1 into phi1 1.647 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.647 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.647 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.647 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 1.647 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 1.647 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 1.647 * [taylor]: Taking taylor expansion of -1 in delta 1.647 * [backup-simplify]: Simplify -1 into -1 1.647 * [taylor]: Taking taylor expansion of theta in delta 1.647 * [backup-simplify]: Simplify theta into theta 1.647 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 1.647 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.647 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 1.647 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 1.647 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 1.647 * [taylor]: Taking taylor expansion of -1 in delta 1.647 * [backup-simplify]: Simplify -1 into -1 1.647 * [taylor]: Taking taylor expansion of delta in delta 1.647 * [backup-simplify]: Simplify 0 into 0 1.647 * [backup-simplify]: Simplify 1 into 1 1.648 * [backup-simplify]: Simplify (/ -1 1) into -1 1.648 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.648 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.648 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.648 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.648 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.648 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.648 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.648 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 1.648 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.648 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.649 * [backup-simplify]: Simplify (- 0) into 0 1.649 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.649 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 1.649 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 1.649 * [backup-simplify]: Simplify (- 0) into 0 1.649 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 1.649 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 1.649 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 1.649 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 1.650 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.650 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 1.650 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.650 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.650 * [taylor]: Taking taylor expansion of -1 in theta 1.650 * [backup-simplify]: Simplify -1 into -1 1.650 * [taylor]: Taking taylor expansion of phi1 in theta 1.650 * [backup-simplify]: Simplify phi1 into phi1 1.650 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.650 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.650 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.650 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in theta 1.650 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 1.650 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 1.650 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.650 * [taylor]: Taking taylor expansion of -1 in theta 1.650 * [backup-simplify]: Simplify -1 into -1 1.650 * [taylor]: Taking taylor expansion of phi1 in theta 1.650 * [backup-simplify]: Simplify phi1 into phi1 1.650 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.650 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.650 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.650 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 1.650 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.650 * [taylor]: Taking taylor expansion of -1 in theta 1.650 * [backup-simplify]: Simplify -1 into -1 1.650 * [taylor]: Taking taylor expansion of delta in theta 1.650 * [backup-simplify]: Simplify delta into delta 1.650 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.650 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.650 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.650 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 1.650 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 1.650 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 1.650 * [taylor]: Taking taylor expansion of -1 in theta 1.651 * [backup-simplify]: Simplify -1 into -1 1.651 * [taylor]: Taking taylor expansion of phi1 in theta 1.651 * [backup-simplify]: Simplify phi1 into phi1 1.651 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 1.651 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 1.651 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 1.651 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 1.651 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 1.651 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 1.651 * [taylor]: Taking taylor expansion of -1 in theta 1.651 * [backup-simplify]: Simplify -1 into -1 1.651 * [taylor]: Taking taylor expansion of theta in theta 1.651 * [backup-simplify]: Simplify 0 into 0 1.651 * [backup-simplify]: Simplify 1 into 1 1.651 * [backup-simplify]: Simplify (/ -1 1) into -1 1.651 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 1.651 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 1.651 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 1.651 * [taylor]: Taking taylor expansion of -1 in theta 1.651 * [backup-simplify]: Simplify -1 into -1 1.651 * [taylor]: Taking taylor expansion of delta in theta 1.651 * [backup-simplify]: Simplify delta into delta 1.651 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 1.651 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 1.651 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 1.651 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.651 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.652 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.652 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 1.652 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 1.652 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 1.652 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 1.652 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 1.652 * [backup-simplify]: Simplify (- 0) into 0 1.652 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 1.652 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 1.652 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 1.652 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 1.653 * [backup-simplify]: Simplify (- 0) into 0 1.653 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 1.653 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 1.653 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 1.653 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 1.653 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 1.653 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 1.653 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 1.654 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.654 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.654 * [backup-simplify]: Simplify (+ 0) into 0 1.655 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.655 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.656 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.656 * [backup-simplify]: Simplify (- 0) into 0 1.656 * [backup-simplify]: Simplify (+ 0 0) into 0 1.656 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 1.656 * [backup-simplify]: Simplify (+ 0) into 0 1.657 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.657 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.658 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.658 * [backup-simplify]: Simplify (+ 0 0) into 0 1.658 * [backup-simplify]: Simplify (+ 0) into 0 1.658 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.658 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.659 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.659 * [backup-simplify]: Simplify (- 0) into 0 1.660 * [backup-simplify]: Simplify (+ 0 0) into 0 1.660 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.660 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 1.660 * [backup-simplify]: Simplify (+ 0 0) into 0 1.661 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 1.661 * [taylor]: Taking taylor expansion of 0 in delta 1.661 * [backup-simplify]: Simplify 0 into 0 1.661 * [taylor]: Taking taylor expansion of 0 in theta 1.661 * [backup-simplify]: Simplify 0 into 0 1.661 * [backup-simplify]: Simplify 0 into 0 1.661 * [backup-simplify]: Simplify (+ 0) into 0 1.661 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.661 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.662 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.662 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.662 * [backup-simplify]: Simplify (+ 0 0) into 0 1.663 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 1.663 * [backup-simplify]: Simplify (+ 0) into 0 1.663 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 1.663 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 1.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.664 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 1.664 * [backup-simplify]: Simplify (- 0) into 0 1.665 * [backup-simplify]: Simplify (+ 0 0) into 0 1.665 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.665 * [backup-simplify]: Simplify (+ 0) into 0 1.665 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.665 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.666 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.666 * [backup-simplify]: Simplify (- 0) into 0 1.667 * [backup-simplify]: Simplify (+ 0 0) into 0 1.667 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 1.667 * [backup-simplify]: Simplify (+ 0 0) into 0 1.667 * [backup-simplify]: Simplify (+ 0) into 0 1.668 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.669 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.669 * [backup-simplify]: Simplify (+ 0 0) into 0 1.669 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 1.669 * [taylor]: Taking taylor expansion of 0 in theta 1.669 * [backup-simplify]: Simplify 0 into 0 1.669 * [backup-simplify]: Simplify 0 into 0 1.669 * [backup-simplify]: Simplify (+ 0) into 0 1.670 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 1.670 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.671 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 1.671 * [backup-simplify]: Simplify (- 0) into 0 1.671 * [backup-simplify]: Simplify (+ 0 0) into 0 1.671 * [backup-simplify]: Simplify (+ 0) into 0 1.672 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.672 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.672 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.673 * [backup-simplify]: Simplify (+ 0 0) into 0 1.673 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 1.673 * [backup-simplify]: Simplify (+ 0) into 0 1.673 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 1.673 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 1.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.674 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 1.674 * [backup-simplify]: Simplify (+ 0 0) into 0 1.675 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 1.675 * [backup-simplify]: Simplify (+ 0) into 0 1.675 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 1.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.676 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 1.676 * [backup-simplify]: Simplify (- 0) into 0 1.676 * [backup-simplify]: Simplify (+ 0 0) into 0 1.677 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 1.677 * [backup-simplify]: Simplify (+ 0 0) into 0 1.677 * [backup-simplify]: Simplify (+ 0) into 0 1.677 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 1.677 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 1.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.678 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 1.678 * [backup-simplify]: Simplify (+ 0 0) into 0 1.679 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 1.679 * [backup-simplify]: Simplify 0 into 0 1.679 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.680 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.680 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.680 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.681 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.681 * [backup-simplify]: Simplify (- 0) into 0 1.681 * [backup-simplify]: Simplify (+ 0 0) into 0 1.682 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.682 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.683 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.683 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 1.683 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.683 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.684 * [backup-simplify]: Simplify (+ 0 0) into 0 1.684 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.685 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.685 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.686 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.686 * [backup-simplify]: Simplify (- 0) into 0 1.686 * [backup-simplify]: Simplify (+ 0 0) into 0 1.686 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 1.687 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 1.687 * [backup-simplify]: Simplify (+ 0 0) into 0 1.689 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 1.689 * [taylor]: Taking taylor expansion of 0 in delta 1.689 * [backup-simplify]: Simplify 0 into 0 1.689 * [taylor]: Taking taylor expansion of 0 in theta 1.689 * [backup-simplify]: Simplify 0 into 0 1.689 * [backup-simplify]: Simplify 0 into 0 1.689 * [taylor]: Taking taylor expansion of 0 in theta 1.689 * [backup-simplify]: Simplify 0 into 0 1.689 * [backup-simplify]: Simplify 0 into 0 1.690 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.691 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.692 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.692 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.693 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.694 * [backup-simplify]: Simplify (+ 0 0) into 0 1.694 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 1.695 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.696 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 1.696 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 1.697 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.698 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 1.698 * [backup-simplify]: Simplify (- 0) into 0 1.698 * [backup-simplify]: Simplify (+ 0 0) into 0 1.699 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 1.700 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.700 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.701 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.701 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.702 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.702 * [backup-simplify]: Simplify (- 0) into 0 1.703 * [backup-simplify]: Simplify (+ 0 0) into 0 1.703 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 1.704 * [backup-simplify]: Simplify (+ 0 0) into 0 1.704 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.705 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 1.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.706 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.707 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 1.707 * [backup-simplify]: Simplify (+ 0 0) into 0 1.708 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 1.708 * [taylor]: Taking taylor expansion of 0 in theta 1.708 * [backup-simplify]: Simplify 0 into 0 1.708 * [backup-simplify]: Simplify 0 into 0 1.709 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) (* (cos (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))))) into (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.709 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 2 2 2 1) 1.710 * [backup-simplify]: Simplify (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.710 * [approximate]: Taking taylor expansion of (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in (phi1 delta theta) around 0 1.710 * [taylor]: Taking taylor expansion of (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in theta 1.710 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.710 * [taylor]: Taking taylor expansion of (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in delta 1.711 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.711 * [taylor]: Taking taylor expansion of (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in phi1 1.711 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.711 * [taylor]: Taking taylor expansion of (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in phi1 1.711 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.712 * [taylor]: Taking taylor expansion of (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in delta 1.712 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.712 * [taylor]: Taking taylor expansion of (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in theta 1.712 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.713 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.713 * [taylor]: Taking taylor expansion of 0 in delta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [taylor]: Taking taylor expansion of 0 in theta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [taylor]: Taking taylor expansion of 0 in theta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [taylor]: Taking taylor expansion of 0 in delta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [taylor]: Taking taylor expansion of 0 in theta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [taylor]: Taking taylor expansion of 0 in theta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [taylor]: Taking taylor expansion of 0 in theta 1.713 * [backup-simplify]: Simplify 0 into 0 1.713 * [backup-simplify]: Simplify 0 into 0 1.714 * [backup-simplify]: Simplify (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.714 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (cos (/ 1 theta))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.714 * [approximate]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in (phi1 delta theta) around 0 1.714 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in theta 1.715 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.715 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in delta 1.715 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.715 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in phi1 1.716 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.716 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in phi1 1.716 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.716 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in delta 1.717 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.717 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) in theta 1.717 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.718 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) 1.718 * [taylor]: Taking taylor expansion of 0 in delta 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [taylor]: Taking taylor expansion of 0 in theta 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [taylor]: Taking taylor expansion of 0 in theta 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [taylor]: Taking taylor expansion of 0 in delta 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [taylor]: Taking taylor expansion of 0 in theta 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [backup-simplify]: Simplify 0 into 0 1.718 * [taylor]: Taking taylor expansion of 0 in theta 1.719 * [backup-simplify]: Simplify 0 into 0 1.719 * [backup-simplify]: Simplify 0 into 0 1.719 * [taylor]: Taking taylor expansion of 0 in theta 1.719 * [backup-simplify]: Simplify 0 into 0 1.719 * [backup-simplify]: Simplify 0 into 0 1.719 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1))))))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.720 * [backup-simplify]: Simplify (asin (+ (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))) (* (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (cos (/ 1 (- theta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.720 * [approximate]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in (phi1 delta theta) around 0 1.720 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 1.720 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.720 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 1.721 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.721 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 1.721 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.721 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 1.722 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.722 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 1.722 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.722 * [taylor]: Taking taylor expansion of (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 1.723 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.723 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (asin (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 1.723 * [taylor]: Taking taylor expansion of 0 in delta 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [taylor]: Taking taylor expansion of 0 in theta 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [taylor]: Taking taylor expansion of 0 in theta 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [taylor]: Taking taylor expansion of 0 in delta 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [taylor]: Taking taylor expansion of 0 in theta 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [taylor]: Taking taylor expansion of 0 in theta 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [taylor]: Taking taylor expansion of 0 in theta 1.723 * [backup-simplify]: Simplify 0 into 0 1.723 * [backup-simplify]: Simplify 0 into 0 1.724 * [backup-simplify]: Simplify (asin (+ (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) (* (cos (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))))) into (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 1.724 * * * * [progress]: [ 4 / 4 ] generating series at (2 2) 1.724 * [backup-simplify]: Simplify (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) 1.724 * [approximate]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in (theta delta phi1) around 0 1.724 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in phi1 1.725 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.725 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in delta 1.725 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.725 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in theta 1.726 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.726 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in theta 1.726 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.726 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in delta 1.727 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.727 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in phi1 1.727 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.728 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.728 * [taylor]: Taking taylor expansion of 0 in delta 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [taylor]: Taking taylor expansion of 0 in phi1 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [taylor]: Taking taylor expansion of 0 in phi1 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [taylor]: Taking taylor expansion of 0 in delta 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [taylor]: Taking taylor expansion of 0 in phi1 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [taylor]: Taking taylor expansion of 0 in phi1 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [taylor]: Taking taylor expansion of 0 in phi1 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify 0 into 0 1.728 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.729 * [backup-simplify]: Simplify (atan2 (* (* (sin (/ 1 theta)) (sin (/ 1 delta))) (cos (/ 1 phi1))) (- (cos (/ 1 delta)) (* (sin (/ 1 phi1)) (sin (asin (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (* (cos (/ 1 phi1)) (sin (/ 1 delta))) (cos (/ 1 theta))))))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.729 * [approximate]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in (theta delta phi1) around 0 1.729 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 1.730 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.730 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 1.730 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.730 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 1.731 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.731 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 1.731 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.731 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 1.732 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.732 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 1.733 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.733 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 1.733 * [taylor]: Taking taylor expansion of 0 in delta 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [taylor]: Taking taylor expansion of 0 in phi1 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [taylor]: Taking taylor expansion of 0 in phi1 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [taylor]: Taking taylor expansion of 0 in delta 1.733 * [backup-simplify]: Simplify 0 into 0 1.733 * [taylor]: Taking taylor expansion of 0 in phi1 1.734 * [backup-simplify]: Simplify 0 into 0 1.734 * [backup-simplify]: Simplify 0 into 0 1.734 * [taylor]: Taking taylor expansion of 0 in phi1 1.734 * [backup-simplify]: Simplify 0 into 0 1.734 * [backup-simplify]: Simplify 0 into 0 1.734 * [taylor]: Taking taylor expansion of 0 in phi1 1.734 * [backup-simplify]: Simplify 0 into 0 1.734 * [backup-simplify]: Simplify 0 into 0 1.734 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 theta))))) (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) 1.735 * [backup-simplify]: Simplify (atan2 (* (* (sin (/ 1 (- theta))) (sin (/ 1 (- delta)))) (cos (/ 1 (- phi1)))) (- (cos (/ 1 (- delta))) (* (sin (/ 1 (- phi1))) (sin (asin (+ (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta)))) (* (* (cos (/ 1 (- phi1))) (sin (/ 1 (- delta)))) (cos (/ 1 (- theta)))))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.735 * [approximate]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in (theta delta phi1) around 0 1.735 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 1.736 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.736 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 1.736 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.736 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 1.737 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.737 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 1.737 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.738 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 1.738 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.738 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 1.739 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.739 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 1.740 * [taylor]: Taking taylor expansion of 0 in delta 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [taylor]: Taking taylor expansion of 0 in phi1 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [taylor]: Taking taylor expansion of 0 in phi1 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [taylor]: Taking taylor expansion of 0 in delta 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [taylor]: Taking taylor expansion of 0 in phi1 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [taylor]: Taking taylor expansion of 0 in phi1 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [taylor]: Taking taylor expansion of 0 in phi1 1.740 * [backup-simplify]: Simplify 0 into 0 1.740 * [backup-simplify]: Simplify 0 into 0 1.741 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))) (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta)))))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.741 * * * [progress]: simplifying candidates 1.745 * [simplify]: Simplifying: (/ (exp (cos delta)) (exp (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (log (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (exp (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (* (* (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (- (pow (cos delta) 3) (pow (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) 3)) (+ (* (cos delta) (cos delta)) (+ (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (+ (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (cos (- phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cos (+ phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (+ (log (sin phi1)) (log (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (log (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (exp (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (sqrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (sqrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sin phi1) (* (cbrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cbrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (* (sin phi1) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sin phi1) 1) (* (cbrt (sin phi1)) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sqrt (sin phi1)) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (/ PI 2) (acos (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))) (log (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (exp (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (* (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (* (* (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))) (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sqrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sqrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (log (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (exp (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (* (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (* (* (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (- 1 (+ (* 1/2 (pow delta 2)) (* delta phi1))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (+ (pow phi1 2) (* delta phi1)) (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 1.747 * * [simplify]: Extracting # 0 : cost 0 1.748 * * [simplify]: Extracting # 1 : cost 0 1.748 * * [simplify]: Extracting # 2 : cost 0 1.748 * * [simplify]: Extracting # 3 : cost 0 1.748 * * [simplify]: Extracting # 4 : cost 0 1.748 * * [simplify]: Extracting # 5 : cost 0 1.748 * * [simplify]: Extracting # 6 : cost 0 1.748 * * [simplify]: Extracting # 7 : cost 0 1.748 * * [simplify]: Extracting # 8 : cost 0 1.749 * * [simplify]: Extracting # 9 : cost 0 1.749 * * [simplify]: iteration 0 : 119 enodes (cost 1686 ) 1.775 * * [simplify]: Extracting # 0 : cost 0 1.775 * * [simplify]: Extracting # 1 : cost 0 1.776 * * [simplify]: Extracting # 2 : cost 0 1.776 * * [simplify]: Extracting # 3 : cost 0 1.776 * * [simplify]: Extracting # 4 : cost 0 1.776 * * [simplify]: iteration 1 : 250 enodes (cost 1623 ) 1.860 * * [simplify]: Extracting # 0 : cost 0 1.861 * * [simplify]: Extracting # 1 : cost 0 1.862 * * [simplify]: Extracting # 2 : cost 0 1.863 * * [simplify]: Extracting # 3 : cost 0 1.864 * * [simplify]: Extracting # 4 : cost 0 1.864 * * [simplify]: iteration 2 : 814 enodes (cost 1447 ) 2.471 * * [simplify]: Extracting # 0 : cost 0 2.487 * * [simplify]: Extracting # 1 : cost 0 2.497 * * [simplify]: Extracting # 2 : cost 0 2.503 * * [simplify]: Extracting # 3 : cost 0 2.508 * * [simplify]: Extracting # 4 : cost 0 2.513 * * [simplify]: iteration done: 5001 enodes (cost 1435 ) 2.514 * [simplify]: Simplified to: (exp (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (log (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (exp (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (* (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (cbrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (pow (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) 3) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (sqrt (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (- (pow (cos delta) 3) (pow (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) 3)) (+ (* (cos delta) (cos delta)) (* (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (+ (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (* (cos delta) (cos delta)) (* (* (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (pow (sin phi1) 2))) (+ (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (- (cos (- phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cos (+ phi1 (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sin phi1)) (log (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (log (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (exp (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (pow (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) 3) (* (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) (cbrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (pow (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) 3) (sqrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (sqrt (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (sqrt (sin phi1)) (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (* (* (cbrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cbrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))) (sin phi1)) (* (sqrt (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (sin phi1)) (sin phi1) (* (cbrt (sin phi1)) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sqrt (sin phi1)) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (* (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sin phi1)) (/ PI 2) (acos (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))) (log (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (exp (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (* (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))) (cbrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (pow (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 3) (sqrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (sqrt (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))) (log (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (exp (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (* (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (pow (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta)))))))) 3) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin phi1) (sin (asin (+ (* (sin phi1) (cos delta)) (* (* (cos phi1) (sin delta)) (cos theta))))))))) (- 1 (* delta (+ (* 1/2 delta) phi1))) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* phi1 (+ phi1 delta)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (asin (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) 2.514 * * * [progress]: adding candidates to table 2.986 * * [progress]: iteration 2 / 4 2.986 * * * [progress]: picking best candidate 3.078 * * * * [pick]: Picked # 3.078 * * * [progress]: localizing error 3.144 * * * [progress]: generating rewritten candidates 3.144 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2) 3.151 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 2 2) 3.238 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 2 1 1) 3.265 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2) 3.266 * * * [progress]: generating series expansions 3.266 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2) 3.267 * [backup-simplify]: Simplify (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) into (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) 3.267 * [approximate]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in (delta phi1 theta) around 0 3.267 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in theta 3.267 * [taylor]: Taking taylor expansion of (cos delta) in theta 3.267 * [taylor]: Taking taylor expansion of delta in theta 3.267 * [backup-simplify]: Simplify delta into delta 3.267 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.267 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.267 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in theta 3.267 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in theta 3.267 * [taylor]: Taking taylor expansion of (sin phi1) in theta 3.267 * [taylor]: Taking taylor expansion of phi1 in theta 3.267 * [backup-simplify]: Simplify phi1 into phi1 3.267 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.267 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.267 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in theta 3.267 * [taylor]: Taking taylor expansion of (cos phi1) in theta 3.267 * [taylor]: Taking taylor expansion of phi1 in theta 3.267 * [backup-simplify]: Simplify phi1 into phi1 3.267 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.267 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.267 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 3.267 * [taylor]: Taking taylor expansion of (cos theta) in theta 3.267 * [taylor]: Taking taylor expansion of theta in theta 3.267 * [backup-simplify]: Simplify 0 into 0 3.267 * [backup-simplify]: Simplify 1 into 1 3.267 * [taylor]: Taking taylor expansion of (sin delta) in theta 3.267 * [taylor]: Taking taylor expansion of delta in theta 3.267 * [backup-simplify]: Simplify delta into delta 3.267 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.268 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.268 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in theta 3.268 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in theta 3.268 * [taylor]: Taking taylor expansion of (sin phi1) in theta 3.268 * [taylor]: Taking taylor expansion of phi1 in theta 3.268 * [backup-simplify]: Simplify phi1 into phi1 3.268 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.268 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.268 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 3.268 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 3.268 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 3.268 * [taylor]: Taking taylor expansion of (cos delta) in theta 3.268 * [taylor]: Taking taylor expansion of delta in theta 3.268 * [backup-simplify]: Simplify delta into delta 3.268 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.268 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.268 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in phi1 3.268 * [taylor]: Taking taylor expansion of (cos delta) in phi1 3.268 * [taylor]: Taking taylor expansion of delta in phi1 3.268 * [backup-simplify]: Simplify delta into delta 3.268 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.268 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.268 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in phi1 3.268 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 3.268 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.268 * [taylor]: Taking taylor expansion of phi1 in phi1 3.268 * [backup-simplify]: Simplify 0 into 0 3.268 * [backup-simplify]: Simplify 1 into 1 3.268 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 3.268 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 3.268 * [taylor]: Taking taylor expansion of phi1 in phi1 3.268 * [backup-simplify]: Simplify 0 into 0 3.268 * [backup-simplify]: Simplify 1 into 1 3.268 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 3.268 * [taylor]: Taking taylor expansion of (cos theta) in phi1 3.268 * [taylor]: Taking taylor expansion of theta in phi1 3.268 * [backup-simplify]: Simplify theta into theta 3.268 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.268 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.268 * [taylor]: Taking taylor expansion of (sin delta) in phi1 3.268 * [taylor]: Taking taylor expansion of delta in phi1 3.268 * [backup-simplify]: Simplify delta into delta 3.268 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.268 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.268 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in phi1 3.268 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 3.268 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.268 * [taylor]: Taking taylor expansion of phi1 in phi1 3.269 * [backup-simplify]: Simplify 0 into 0 3.269 * [backup-simplify]: Simplify 1 into 1 3.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.269 * [taylor]: Taking taylor expansion of (cos delta) in phi1 3.269 * [taylor]: Taking taylor expansion of delta in phi1 3.269 * [backup-simplify]: Simplify delta into delta 3.269 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.269 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.269 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 3.269 * [taylor]: Taking taylor expansion of (cos delta) in delta 3.269 * [taylor]: Taking taylor expansion of delta in delta 3.269 * [backup-simplify]: Simplify 0 into 0 3.269 * [backup-simplify]: Simplify 1 into 1 3.269 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 3.270 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 3.270 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.270 * [taylor]: Taking taylor expansion of phi1 in delta 3.270 * [backup-simplify]: Simplify phi1 into phi1 3.270 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.270 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.270 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 3.270 * [taylor]: Taking taylor expansion of (cos phi1) in delta 3.270 * [taylor]: Taking taylor expansion of phi1 in delta 3.270 * [backup-simplify]: Simplify phi1 into phi1 3.270 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.270 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.270 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 3.270 * [taylor]: Taking taylor expansion of (cos theta) in delta 3.270 * [taylor]: Taking taylor expansion of theta in delta 3.270 * [backup-simplify]: Simplify theta into theta 3.270 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.270 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.270 * [taylor]: Taking taylor expansion of (sin delta) in delta 3.270 * [taylor]: Taking taylor expansion of delta in delta 3.270 * [backup-simplify]: Simplify 0 into 0 3.270 * [backup-simplify]: Simplify 1 into 1 3.270 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 3.270 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 3.270 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.270 * [taylor]: Taking taylor expansion of phi1 in delta 3.270 * [backup-simplify]: Simplify phi1 into phi1 3.270 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.270 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.270 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 3.270 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 3.270 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 3.270 * [taylor]: Taking taylor expansion of (cos delta) in delta 3.270 * [taylor]: Taking taylor expansion of delta in delta 3.270 * [backup-simplify]: Simplify 0 into 0 3.270 * [backup-simplify]: Simplify 1 into 1 3.270 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 3.270 * [taylor]: Taking taylor expansion of (cos delta) in delta 3.270 * [taylor]: Taking taylor expansion of delta in delta 3.270 * [backup-simplify]: Simplify 0 into 0 3.270 * [backup-simplify]: Simplify 1 into 1 3.270 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 3.270 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 3.270 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.270 * [taylor]: Taking taylor expansion of phi1 in delta 3.270 * [backup-simplify]: Simplify phi1 into phi1 3.270 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.270 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.271 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 3.271 * [taylor]: Taking taylor expansion of (cos phi1) in delta 3.271 * [taylor]: Taking taylor expansion of phi1 in delta 3.271 * [backup-simplify]: Simplify phi1 into phi1 3.271 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.271 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.271 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 3.271 * [taylor]: Taking taylor expansion of (cos theta) in delta 3.271 * [taylor]: Taking taylor expansion of theta in delta 3.271 * [backup-simplify]: Simplify theta into theta 3.271 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.271 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.271 * [taylor]: Taking taylor expansion of (sin delta) in delta 3.271 * [taylor]: Taking taylor expansion of delta in delta 3.271 * [backup-simplify]: Simplify 0 into 0 3.271 * [backup-simplify]: Simplify 1 into 1 3.271 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 3.271 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 3.271 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.271 * [taylor]: Taking taylor expansion of phi1 in delta 3.271 * [backup-simplify]: Simplify phi1 into phi1 3.271 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.271 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.271 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 3.271 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 3.272 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 3.272 * [taylor]: Taking taylor expansion of (cos delta) in delta 3.272 * [taylor]: Taking taylor expansion of delta in delta 3.272 * [backup-simplify]: Simplify 0 into 0 3.272 * [backup-simplify]: Simplify 1 into 1 3.272 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 3.272 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 3.272 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 3.272 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 3.272 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 3.273 * [backup-simplify]: Simplify (- 0) into 0 3.273 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 3.273 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 3.273 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 3.273 * [backup-simplify]: Simplify (- 0) into 0 3.273 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 3.273 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 3.273 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 3.274 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 3.274 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 3.274 * [backup-simplify]: Simplify (* (pow (sin phi1) 2) 1) into (pow (sin phi1) 2) 3.274 * [backup-simplify]: Simplify (+ 0 (pow (sin phi1) 2)) into (pow (sin phi1) 2) 3.274 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 3.274 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 3.274 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 3.275 * [taylor]: Taking taylor expansion of 1 in phi1 3.275 * [backup-simplify]: Simplify 1 into 1 3.275 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 3.275 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.275 * [taylor]: Taking taylor expansion of phi1 in phi1 3.275 * [backup-simplify]: Simplify 0 into 0 3.275 * [backup-simplify]: Simplify 1 into 1 3.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.276 * [backup-simplify]: Simplify (+ 1 0) into 1 3.276 * [taylor]: Taking taylor expansion of 1 in theta 3.276 * [backup-simplify]: Simplify 1 into 1 3.276 * [backup-simplify]: Simplify 1 into 1 3.276 * [backup-simplify]: Simplify (+ 0) into 0 3.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.277 * [backup-simplify]: Simplify (+ 0) into 0 3.278 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 3.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.279 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 3.280 * [backup-simplify]: Simplify (- 0) into 0 3.280 * [backup-simplify]: Simplify (+ 0 0) into 0 3.280 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 3.281 * [backup-simplify]: Simplify (+ 0) into 0 3.281 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 3.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.283 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 3.283 * [backup-simplify]: Simplify (- 0) into 0 3.284 * [backup-simplify]: Simplify (+ 0 0) into 0 3.284 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) (* 0 0)) into (* (cos phi1) (cos theta)) 3.284 * [backup-simplify]: Simplify (+ 0) into 0 3.285 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 3.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.286 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 3.287 * [backup-simplify]: Simplify (+ 0 0) into 0 3.287 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 0)) into (* (sin phi1) (* (cos phi1) (cos theta))) 3.287 * [backup-simplify]: Simplify (+ 0) into 0 3.288 * [backup-simplify]: Simplify (+ 0) into 0 3.288 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 3.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.290 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 3.290 * [backup-simplify]: Simplify (+ 0 0) into 0 3.290 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (sin phi1))) into 0 3.291 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) 0) (* 0 1)) into 0 3.291 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) 0) into (* (sin phi1) (* (cos phi1) (cos theta))) 3.291 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 3.291 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 3.291 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 3.292 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 3.292 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.292 * [taylor]: Taking taylor expansion of phi1 in phi1 3.292 * [backup-simplify]: Simplify 0 into 0 3.292 * [backup-simplify]: Simplify 1 into 1 3.292 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 3.292 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 3.292 * [taylor]: Taking taylor expansion of phi1 in phi1 3.292 * [backup-simplify]: Simplify 0 into 0 3.292 * [backup-simplify]: Simplify 1 into 1 3.292 * [taylor]: Taking taylor expansion of (cos theta) in phi1 3.292 * [taylor]: Taking taylor expansion of theta in phi1 3.292 * [backup-simplify]: Simplify theta into theta 3.292 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.292 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.292 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 3.292 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 3.293 * [backup-simplify]: Simplify (- 0) into 0 3.293 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 3.293 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 3.293 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 3.293 * [backup-simplify]: Simplify (- 0) into 0 3.293 * [taylor]: Taking taylor expansion of 0 in theta 3.294 * [backup-simplify]: Simplify 0 into 0 3.294 * [backup-simplify]: Simplify 0 into 0 3.294 * [backup-simplify]: Simplify (+ 0 0) into 0 3.294 * [taylor]: Taking taylor expansion of 0 in theta 3.294 * [backup-simplify]: Simplify 0 into 0 3.294 * [backup-simplify]: Simplify 0 into 0 3.294 * [backup-simplify]: Simplify 0 into 0 3.295 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 3.296 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.298 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 3.299 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.299 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 3.300 * [backup-simplify]: Simplify (- 0) into 0 3.300 * [backup-simplify]: Simplify (+ 0 0) into 0 3.301 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 1) (* 0 0))) into 0 3.302 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.302 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 3.303 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.304 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 3.304 * [backup-simplify]: Simplify (- 0) into 0 3.305 * [backup-simplify]: Simplify (+ 0 0) into 0 3.305 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 (cos theta)) (* 0 0))) into 0 3.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.307 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 3.308 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.308 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 3.309 * [backup-simplify]: Simplify (+ 0 0) into 0 3.309 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 0))) into 0 3.310 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 3.311 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.312 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 3.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.314 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 3.314 * [backup-simplify]: Simplify (+ 0 0) into 0 3.314 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (sin phi1)))) into 0 3.315 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (pow (sin phi1) 2))) 3.316 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (pow (sin phi1) 2)))) into (- (* 1/2 (pow (sin phi1) 2))) 3.316 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 3.316 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 3.316 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 3.316 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 3.316 * [taylor]: Taking taylor expansion of 1/2 in phi1 3.316 * [backup-simplify]: Simplify 1/2 into 1/2 3.316 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 3.317 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.317 * [taylor]: Taking taylor expansion of phi1 in phi1 3.317 * [backup-simplify]: Simplify 0 into 0 3.317 * [backup-simplify]: Simplify 1 into 1 3.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.317 * [taylor]: Taking taylor expansion of 1/2 in phi1 3.317 * [backup-simplify]: Simplify 1/2 into 1/2 3.318 * [backup-simplify]: Simplify (- 1/2) into -1/2 3.318 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 3.318 * [taylor]: Taking taylor expansion of -1/2 in theta 3.318 * [backup-simplify]: Simplify -1/2 into -1/2 3.318 * [backup-simplify]: Simplify -1/2 into -1/2 3.319 * [backup-simplify]: Simplify (+ 0) into 0 3.319 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 3.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.321 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 3.321 * [backup-simplify]: Simplify (- 0) into 0 3.321 * [backup-simplify]: Simplify (+ 0 0) into 0 3.322 * [backup-simplify]: Simplify (+ 0) into 0 3.322 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 3.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.323 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 3.324 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 3.324 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 3.324 * [taylor]: Taking taylor expansion of (cos theta) in theta 3.324 * [taylor]: Taking taylor expansion of theta in theta 3.324 * [backup-simplify]: Simplify 0 into 0 3.324 * [backup-simplify]: Simplify 1 into 1 3.324 * [backup-simplify]: Simplify (- 1) into -1 3.324 * [backup-simplify]: Simplify -1 into -1 3.325 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* 1/2 (pow delta 2)) (* delta phi1))) 3.326 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1)))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.326 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in (delta phi1 theta) around 0 3.326 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 3.326 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 3.326 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.326 * [taylor]: Taking taylor expansion of delta in theta 3.326 * [backup-simplify]: Simplify delta into delta 3.326 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.326 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.326 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.326 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 3.326 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 3.326 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 3.326 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.326 * [taylor]: Taking taylor expansion of delta in theta 3.326 * [backup-simplify]: Simplify delta into delta 3.326 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.326 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.327 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.327 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 3.327 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 3.327 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 3.327 * [taylor]: Taking taylor expansion of theta in theta 3.327 * [backup-simplify]: Simplify 0 into 0 3.327 * [backup-simplify]: Simplify 1 into 1 3.327 * [backup-simplify]: Simplify (/ 1 1) into 1 3.327 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.327 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 3.327 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 3.327 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.327 * [taylor]: Taking taylor expansion of phi1 in theta 3.327 * [backup-simplify]: Simplify phi1 into phi1 3.328 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.328 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.328 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.328 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.328 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.328 * [taylor]: Taking taylor expansion of phi1 in theta 3.328 * [backup-simplify]: Simplify phi1 into phi1 3.328 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.328 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.328 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.328 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 3.328 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 3.328 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.328 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.328 * [taylor]: Taking taylor expansion of phi1 in theta 3.328 * [backup-simplify]: Simplify phi1 into phi1 3.328 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.328 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.329 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.329 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.329 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.329 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.329 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 3.329 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.329 * [taylor]: Taking taylor expansion of delta in theta 3.329 * [backup-simplify]: Simplify delta into delta 3.329 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.329 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.329 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.329 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in phi1 3.329 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 3.329 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.329 * [taylor]: Taking taylor expansion of delta in phi1 3.329 * [backup-simplify]: Simplify delta into delta 3.329 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.330 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.330 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.330 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 3.330 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 3.330 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 3.330 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.330 * [taylor]: Taking taylor expansion of delta in phi1 3.330 * [backup-simplify]: Simplify delta into delta 3.330 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.330 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.330 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.330 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 3.330 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 3.330 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 3.330 * [taylor]: Taking taylor expansion of theta in phi1 3.330 * [backup-simplify]: Simplify theta into theta 3.330 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.330 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.330 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.330 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 3.331 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 3.331 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.331 * [taylor]: Taking taylor expansion of phi1 in phi1 3.331 * [backup-simplify]: Simplify 0 into 0 3.331 * [backup-simplify]: Simplify 1 into 1 3.331 * [backup-simplify]: Simplify (/ 1 1) into 1 3.331 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.331 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.331 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.331 * [taylor]: Taking taylor expansion of phi1 in phi1 3.331 * [backup-simplify]: Simplify 0 into 0 3.331 * [backup-simplify]: Simplify 1 into 1 3.332 * [backup-simplify]: Simplify (/ 1 1) into 1 3.332 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.332 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 3.332 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 3.332 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.332 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.332 * [taylor]: Taking taylor expansion of phi1 in phi1 3.332 * [backup-simplify]: Simplify 0 into 0 3.332 * [backup-simplify]: Simplify 1 into 1 3.332 * [backup-simplify]: Simplify (/ 1 1) into 1 3.333 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.333 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 3.333 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.333 * [taylor]: Taking taylor expansion of delta in phi1 3.333 * [backup-simplify]: Simplify delta into delta 3.333 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.333 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.333 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.333 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in delta 3.333 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 3.333 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.333 * [taylor]: Taking taylor expansion of delta in delta 3.333 * [backup-simplify]: Simplify 0 into 0 3.333 * [backup-simplify]: Simplify 1 into 1 3.333 * [backup-simplify]: Simplify (/ 1 1) into 1 3.334 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.334 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 3.334 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 3.334 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 3.334 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.334 * [taylor]: Taking taylor expansion of delta in delta 3.334 * [backup-simplify]: Simplify 0 into 0 3.334 * [backup-simplify]: Simplify 1 into 1 3.334 * [backup-simplify]: Simplify (/ 1 1) into 1 3.334 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.334 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 3.334 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 3.334 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 3.334 * [taylor]: Taking taylor expansion of theta in delta 3.334 * [backup-simplify]: Simplify theta into theta 3.334 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.335 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.335 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.335 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 3.335 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 3.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.335 * [taylor]: Taking taylor expansion of phi1 in delta 3.335 * [backup-simplify]: Simplify phi1 into phi1 3.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.335 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.335 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.335 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.335 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.335 * [taylor]: Taking taylor expansion of phi1 in delta 3.335 * [backup-simplify]: Simplify phi1 into phi1 3.335 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.335 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.335 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.335 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 3.335 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 3.336 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.336 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.336 * [taylor]: Taking taylor expansion of phi1 in delta 3.336 * [backup-simplify]: Simplify phi1 into phi1 3.336 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.336 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.336 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.336 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.336 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.336 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.336 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 3.336 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.336 * [taylor]: Taking taylor expansion of delta in delta 3.336 * [backup-simplify]: Simplify 0 into 0 3.336 * [backup-simplify]: Simplify 1 into 1 3.337 * [backup-simplify]: Simplify (/ 1 1) into 1 3.337 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.337 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in delta 3.337 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 3.337 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.337 * [taylor]: Taking taylor expansion of delta in delta 3.337 * [backup-simplify]: Simplify 0 into 0 3.337 * [backup-simplify]: Simplify 1 into 1 3.337 * [backup-simplify]: Simplify (/ 1 1) into 1 3.338 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.338 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 3.338 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 3.338 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 3.338 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.338 * [taylor]: Taking taylor expansion of delta in delta 3.338 * [backup-simplify]: Simplify 0 into 0 3.338 * [backup-simplify]: Simplify 1 into 1 3.338 * [backup-simplify]: Simplify (/ 1 1) into 1 3.338 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.338 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 3.338 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 3.338 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 3.338 * [taylor]: Taking taylor expansion of theta in delta 3.338 * [backup-simplify]: Simplify theta into theta 3.338 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.338 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.338 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.338 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 3.339 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 3.339 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.339 * [taylor]: Taking taylor expansion of phi1 in delta 3.339 * [backup-simplify]: Simplify phi1 into phi1 3.339 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.339 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.339 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.339 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.339 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.339 * [taylor]: Taking taylor expansion of phi1 in delta 3.339 * [backup-simplify]: Simplify phi1 into phi1 3.339 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.339 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.339 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.339 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 3.339 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 3.339 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.339 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.339 * [taylor]: Taking taylor expansion of phi1 in delta 3.339 * [backup-simplify]: Simplify phi1 into phi1 3.339 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.339 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.339 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.340 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.340 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.340 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.340 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 3.340 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.340 * [taylor]: Taking taylor expansion of delta in delta 3.340 * [backup-simplify]: Simplify 0 into 0 3.340 * [backup-simplify]: Simplify 1 into 1 3.340 * [backup-simplify]: Simplify (/ 1 1) into 1 3.340 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.341 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 3.341 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 3.341 * [backup-simplify]: Simplify (- 0) into 0 3.341 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 3.341 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 3.341 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 3.342 * [backup-simplify]: Simplify (- 0) into 0 3.342 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 3.342 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.342 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.342 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.342 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 3.343 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 3.343 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 3.343 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 3.343 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 3.344 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 3.345 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.346 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.346 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in phi1 3.346 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 3.346 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.346 * [taylor]: Taking taylor expansion of delta in phi1 3.346 * [backup-simplify]: Simplify delta into delta 3.346 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.346 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.346 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.346 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 3.346 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 3.346 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 3.346 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.346 * [taylor]: Taking taylor expansion of delta in phi1 3.346 * [backup-simplify]: Simplify delta into delta 3.346 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.347 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.347 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.347 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 3.347 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 3.347 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 3.347 * [taylor]: Taking taylor expansion of theta in phi1 3.347 * [backup-simplify]: Simplify theta into theta 3.347 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.347 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.347 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.347 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 3.347 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 3.347 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.347 * [taylor]: Taking taylor expansion of phi1 in phi1 3.347 * [backup-simplify]: Simplify 0 into 0 3.347 * [backup-simplify]: Simplify 1 into 1 3.348 * [backup-simplify]: Simplify (/ 1 1) into 1 3.348 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.348 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.348 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.348 * [taylor]: Taking taylor expansion of phi1 in phi1 3.348 * [backup-simplify]: Simplify 0 into 0 3.348 * [backup-simplify]: Simplify 1 into 1 3.349 * [backup-simplify]: Simplify (/ 1 1) into 1 3.349 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.349 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 3.349 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 3.349 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.349 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.349 * [taylor]: Taking taylor expansion of phi1 in phi1 3.349 * [backup-simplify]: Simplify 0 into 0 3.349 * [backup-simplify]: Simplify 1 into 1 3.349 * [backup-simplify]: Simplify (/ 1 1) into 1 3.349 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.349 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 3.349 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.349 * [taylor]: Taking taylor expansion of delta in phi1 3.349 * [backup-simplify]: Simplify delta into delta 3.350 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.350 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.350 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.350 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 3.350 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 3.350 * [backup-simplify]: Simplify (- 0) into 0 3.350 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 3.351 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 3.351 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 3.351 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 3.351 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 3.351 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 3.351 * [backup-simplify]: Simplify (- 0) into 0 3.352 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 3.352 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 3.352 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 3.352 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 3.353 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 3.353 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 3.353 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 3.353 * [backup-simplify]: Simplify (- 0) into 0 3.353 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 3.354 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 3.355 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 3.356 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.357 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.357 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 3.357 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 3.357 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.357 * [taylor]: Taking taylor expansion of delta in theta 3.357 * [backup-simplify]: Simplify delta into delta 3.357 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.357 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.357 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.357 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 3.357 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 3.358 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 3.358 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.358 * [taylor]: Taking taylor expansion of delta in theta 3.358 * [backup-simplify]: Simplify delta into delta 3.358 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.358 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.358 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.358 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 3.358 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 3.358 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 3.358 * [taylor]: Taking taylor expansion of theta in theta 3.358 * [backup-simplify]: Simplify 0 into 0 3.358 * [backup-simplify]: Simplify 1 into 1 3.359 * [backup-simplify]: Simplify (/ 1 1) into 1 3.359 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.359 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 3.359 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 3.359 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.359 * [taylor]: Taking taylor expansion of phi1 in theta 3.359 * [backup-simplify]: Simplify phi1 into phi1 3.359 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.359 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.359 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.359 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.359 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.359 * [taylor]: Taking taylor expansion of phi1 in theta 3.359 * [backup-simplify]: Simplify phi1 into phi1 3.359 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.359 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.360 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.360 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 3.360 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 3.360 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.360 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.360 * [taylor]: Taking taylor expansion of phi1 in theta 3.360 * [backup-simplify]: Simplify phi1 into phi1 3.360 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.360 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.360 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.360 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.360 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.360 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.360 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 3.360 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.360 * [taylor]: Taking taylor expansion of delta in theta 3.360 * [backup-simplify]: Simplify delta into delta 3.360 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.361 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.361 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.361 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 3.361 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 3.361 * [backup-simplify]: Simplify (- 0) into 0 3.362 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 3.362 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 3.362 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 3.362 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 3.362 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 3.362 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 3.362 * [backup-simplify]: Simplify (- 0) into 0 3.363 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 3.363 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.363 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.363 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.363 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 3.363 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 3.364 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 3.364 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 3.364 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 3.364 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 3.365 * [backup-simplify]: Simplify (- 0) into 0 3.365 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 3.365 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 3.366 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 3.366 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.367 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.367 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 3.368 * [backup-simplify]: Simplify (+ 0) into 0 3.368 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.368 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.369 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.369 * [backup-simplify]: Simplify (+ 0 0) into 0 3.370 * [backup-simplify]: Simplify (+ 0) into 0 3.370 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 3.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.371 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 3.371 * [backup-simplify]: Simplify (- 0) into 0 3.371 * [backup-simplify]: Simplify (+ 0 0) into 0 3.371 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.371 * [backup-simplify]: Simplify (+ 0) into 0 3.372 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 3.372 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 3.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.373 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 3.373 * [backup-simplify]: Simplify (- 0) into 0 3.373 * [backup-simplify]: Simplify (+ 0 0) into 0 3.373 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 3.373 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 3.374 * [backup-simplify]: Simplify (+ 0) into 0 3.374 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.374 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.379 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.379 * [backup-simplify]: Simplify (+ 0 0) into 0 3.379 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.379 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 3.380 * [backup-simplify]: Simplify (+ 0 0) into 0 3.380 * [backup-simplify]: Simplify (- 0) into 0 3.380 * [backup-simplify]: Simplify (+ 0 0) into 0 3.380 * [taylor]: Taking taylor expansion of 0 in phi1 3.380 * [backup-simplify]: Simplify 0 into 0 3.380 * [taylor]: Taking taylor expansion of 0 in theta 3.380 * [backup-simplify]: Simplify 0 into 0 3.380 * [backup-simplify]: Simplify 0 into 0 3.380 * [backup-simplify]: Simplify (+ 0) into 0 3.381 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 3.381 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.382 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 3.382 * [backup-simplify]: Simplify (- 0) into 0 3.382 * [backup-simplify]: Simplify (+ 0 0) into 0 3.382 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.382 * [backup-simplify]: Simplify (+ 0) into 0 3.383 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 3.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 3.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.383 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 3.384 * [backup-simplify]: Simplify (- 0) into 0 3.384 * [backup-simplify]: Simplify (+ 0 0) into 0 3.384 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 3.384 * [backup-simplify]: Simplify (+ 0) into 0 3.385 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 3.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.385 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 3.386 * [backup-simplify]: Simplify (+ 0 0) into 0 3.386 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 3.386 * [backup-simplify]: Simplify (+ 0) into 0 3.386 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 3.387 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.387 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 3.388 * [backup-simplify]: Simplify (- 0) into 0 3.388 * [backup-simplify]: Simplify (+ 0 0) into 0 3.388 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.388 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 3.388 * [backup-simplify]: Simplify (+ 0 0) into 0 3.389 * [backup-simplify]: Simplify (- 0) into 0 3.389 * [backup-simplify]: Simplify (+ 0 0) into 0 3.389 * [taylor]: Taking taylor expansion of 0 in theta 3.389 * [backup-simplify]: Simplify 0 into 0 3.389 * [backup-simplify]: Simplify 0 into 0 3.389 * [backup-simplify]: Simplify (+ 0) into 0 3.390 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 3.390 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.390 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 3.391 * [backup-simplify]: Simplify (- 0) into 0 3.391 * [backup-simplify]: Simplify (+ 0 0) into 0 3.391 * [backup-simplify]: Simplify (+ 0) into 0 3.391 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.392 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.392 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.393 * [backup-simplify]: Simplify (+ 0 0) into 0 3.393 * [backup-simplify]: Simplify (+ 0) into 0 3.393 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 3.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.394 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 3.395 * [backup-simplify]: Simplify (- 0) into 0 3.395 * [backup-simplify]: Simplify (+ 0 0) into 0 3.395 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.395 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 3.395 * [backup-simplify]: Simplify (+ 0) into 0 3.396 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 3.396 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.397 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 3.397 * [backup-simplify]: Simplify (+ 0 0) into 0 3.397 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 3.397 * [backup-simplify]: Simplify (+ 0) into 0 3.398 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 3.398 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.398 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 3.399 * [backup-simplify]: Simplify (- 0) into 0 3.399 * [backup-simplify]: Simplify (+ 0 0) into 0 3.399 * [backup-simplify]: Simplify (+ 0) into 0 3.399 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.400 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.400 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.401 * [backup-simplify]: Simplify (+ 0 0) into 0 3.401 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.401 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 3.401 * [backup-simplify]: Simplify (+ 0 0) into 0 3.401 * [backup-simplify]: Simplify (- 0) into 0 3.402 * [backup-simplify]: Simplify (+ 0 0) into 0 3.402 * [backup-simplify]: Simplify 0 into 0 3.402 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.403 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.403 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.403 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.403 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.404 * [backup-simplify]: Simplify (+ 0 0) into 0 3.404 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.405 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.405 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.405 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.406 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.406 * [backup-simplify]: Simplify (- 0) into 0 3.406 * [backup-simplify]: Simplify (+ 0 0) into 0 3.406 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 3.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.408 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.408 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.409 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.409 * [backup-simplify]: Simplify (- 0) into 0 3.409 * [backup-simplify]: Simplify (+ 0 0) into 0 3.410 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 3.410 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 3.410 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.411 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.411 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.411 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.412 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.412 * [backup-simplify]: Simplify (+ 0 0) into 0 3.412 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 3.413 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 3.413 * [backup-simplify]: Simplify (+ 0 0) into 0 3.413 * [backup-simplify]: Simplify (- 0) into 0 3.414 * [backup-simplify]: Simplify (+ 0 0) into 0 3.414 * [taylor]: Taking taylor expansion of 0 in phi1 3.414 * [backup-simplify]: Simplify 0 into 0 3.414 * [taylor]: Taking taylor expansion of 0 in theta 3.414 * [backup-simplify]: Simplify 0 into 0 3.414 * [backup-simplify]: Simplify 0 into 0 3.414 * [taylor]: Taking taylor expansion of 0 in theta 3.414 * [backup-simplify]: Simplify 0 into 0 3.414 * [backup-simplify]: Simplify 0 into 0 3.414 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.415 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.415 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.416 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.416 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.416 * [backup-simplify]: Simplify (- 0) into 0 3.417 * [backup-simplify]: Simplify (+ 0 0) into 0 3.417 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 3.418 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.418 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.418 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.419 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.419 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.419 * [backup-simplify]: Simplify (- 0) into 0 3.419 * [backup-simplify]: Simplify (+ 0 0) into 0 3.420 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 3.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.421 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.421 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.422 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.422 * [backup-simplify]: Simplify (+ 0 0) into 0 3.422 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 3.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.423 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.423 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.424 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.424 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.424 * [backup-simplify]: Simplify (- 0) into 0 3.425 * [backup-simplify]: Simplify (+ 0 0) into 0 3.425 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 3.425 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 3.426 * [backup-simplify]: Simplify (+ 0 0) into 0 3.426 * [backup-simplify]: Simplify (- 0) into 0 3.426 * [backup-simplify]: Simplify (+ 0 0) into 0 3.426 * [taylor]: Taking taylor expansion of 0 in theta 3.426 * [backup-simplify]: Simplify 0 into 0 3.426 * [backup-simplify]: Simplify 0 into 0 3.427 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))))) 3.427 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (+ (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta))))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))) (sin (/ 1 (- phi1))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.427 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in (delta phi1 theta) around 0 3.427 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in theta 3.427 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 3.427 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.427 * [taylor]: Taking taylor expansion of -1 in theta 3.427 * [backup-simplify]: Simplify -1 into -1 3.427 * [taylor]: Taking taylor expansion of delta in theta 3.427 * [backup-simplify]: Simplify delta into delta 3.428 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.428 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.428 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.428 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in theta 3.428 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 3.428 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 3.428 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.428 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.428 * [taylor]: Taking taylor expansion of -1 in theta 3.428 * [backup-simplify]: Simplify -1 into -1 3.428 * [taylor]: Taking taylor expansion of phi1 in theta 3.428 * [backup-simplify]: Simplify phi1 into phi1 3.428 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.428 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.428 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.428 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.428 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.428 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.428 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 3.428 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.428 * [taylor]: Taking taylor expansion of -1 in theta 3.428 * [backup-simplify]: Simplify -1 into -1 3.428 * [taylor]: Taking taylor expansion of delta in theta 3.428 * [backup-simplify]: Simplify delta into delta 3.428 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.428 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.428 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.428 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 3.428 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.428 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.428 * [taylor]: Taking taylor expansion of -1 in theta 3.428 * [backup-simplify]: Simplify -1 into -1 3.428 * [taylor]: Taking taylor expansion of phi1 in theta 3.428 * [backup-simplify]: Simplify phi1 into phi1 3.428 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.429 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.429 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.429 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 3.429 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 3.429 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 3.429 * [taylor]: Taking taylor expansion of -1 in theta 3.429 * [backup-simplify]: Simplify -1 into -1 3.429 * [taylor]: Taking taylor expansion of theta in theta 3.429 * [backup-simplify]: Simplify 0 into 0 3.429 * [backup-simplify]: Simplify 1 into 1 3.429 * [backup-simplify]: Simplify (/ -1 1) into -1 3.429 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.429 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 3.429 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 3.429 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.429 * [taylor]: Taking taylor expansion of -1 in theta 3.429 * [backup-simplify]: Simplify -1 into -1 3.429 * [taylor]: Taking taylor expansion of phi1 in theta 3.429 * [backup-simplify]: Simplify phi1 into phi1 3.429 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.429 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.429 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.429 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 3.429 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.429 * [taylor]: Taking taylor expansion of -1 in theta 3.429 * [backup-simplify]: Simplify -1 into -1 3.429 * [taylor]: Taking taylor expansion of delta in theta 3.429 * [backup-simplify]: Simplify delta into delta 3.429 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.429 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.430 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.430 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in phi1 3.430 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 3.430 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.430 * [taylor]: Taking taylor expansion of -1 in phi1 3.430 * [backup-simplify]: Simplify -1 into -1 3.430 * [taylor]: Taking taylor expansion of delta in phi1 3.430 * [backup-simplify]: Simplify delta into delta 3.430 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.430 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.430 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.430 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in phi1 3.430 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 3.430 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 3.430 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.430 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.430 * [taylor]: Taking taylor expansion of -1 in phi1 3.430 * [backup-simplify]: Simplify -1 into -1 3.430 * [taylor]: Taking taylor expansion of phi1 in phi1 3.430 * [backup-simplify]: Simplify 0 into 0 3.430 * [backup-simplify]: Simplify 1 into 1 3.430 * [backup-simplify]: Simplify (/ -1 1) into -1 3.430 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.430 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 3.430 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.430 * [taylor]: Taking taylor expansion of -1 in phi1 3.430 * [backup-simplify]: Simplify -1 into -1 3.430 * [taylor]: Taking taylor expansion of delta in phi1 3.430 * [backup-simplify]: Simplify delta into delta 3.430 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.430 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.431 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.431 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 3.431 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.431 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.431 * [taylor]: Taking taylor expansion of -1 in phi1 3.431 * [backup-simplify]: Simplify -1 into -1 3.431 * [taylor]: Taking taylor expansion of phi1 in phi1 3.431 * [backup-simplify]: Simplify 0 into 0 3.431 * [backup-simplify]: Simplify 1 into 1 3.431 * [backup-simplify]: Simplify (/ -1 1) into -1 3.431 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.431 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 3.431 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 3.431 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 3.431 * [taylor]: Taking taylor expansion of -1 in phi1 3.431 * [backup-simplify]: Simplify -1 into -1 3.431 * [taylor]: Taking taylor expansion of theta in phi1 3.431 * [backup-simplify]: Simplify theta into theta 3.431 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.431 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.431 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.431 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 3.431 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 3.431 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.431 * [taylor]: Taking taylor expansion of -1 in phi1 3.431 * [backup-simplify]: Simplify -1 into -1 3.431 * [taylor]: Taking taylor expansion of phi1 in phi1 3.431 * [backup-simplify]: Simplify 0 into 0 3.431 * [backup-simplify]: Simplify 1 into 1 3.432 * [backup-simplify]: Simplify (/ -1 1) into -1 3.432 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.432 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 3.432 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.432 * [taylor]: Taking taylor expansion of -1 in phi1 3.432 * [backup-simplify]: Simplify -1 into -1 3.432 * [taylor]: Taking taylor expansion of delta in phi1 3.432 * [backup-simplify]: Simplify delta into delta 3.432 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.432 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.432 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.432 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in delta 3.432 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 3.432 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.432 * [taylor]: Taking taylor expansion of -1 in delta 3.432 * [backup-simplify]: Simplify -1 into -1 3.432 * [taylor]: Taking taylor expansion of delta in delta 3.432 * [backup-simplify]: Simplify 0 into 0 3.432 * [backup-simplify]: Simplify 1 into 1 3.432 * [backup-simplify]: Simplify (/ -1 1) into -1 3.432 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.432 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in delta 3.432 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 3.432 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 3.432 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.432 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.432 * [taylor]: Taking taylor expansion of -1 in delta 3.432 * [backup-simplify]: Simplify -1 into -1 3.432 * [taylor]: Taking taylor expansion of phi1 in delta 3.433 * [backup-simplify]: Simplify phi1 into phi1 3.433 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.433 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.433 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.433 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.433 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.433 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.433 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 3.433 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.433 * [taylor]: Taking taylor expansion of -1 in delta 3.433 * [backup-simplify]: Simplify -1 into -1 3.433 * [taylor]: Taking taylor expansion of delta in delta 3.433 * [backup-simplify]: Simplify 0 into 0 3.433 * [backup-simplify]: Simplify 1 into 1 3.433 * [backup-simplify]: Simplify (/ -1 1) into -1 3.433 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.433 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 3.433 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.433 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.433 * [taylor]: Taking taylor expansion of -1 in delta 3.433 * [backup-simplify]: Simplify -1 into -1 3.433 * [taylor]: Taking taylor expansion of phi1 in delta 3.433 * [backup-simplify]: Simplify phi1 into phi1 3.433 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.433 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.433 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.434 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 3.434 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 3.434 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 3.434 * [taylor]: Taking taylor expansion of -1 in delta 3.434 * [backup-simplify]: Simplify -1 into -1 3.434 * [taylor]: Taking taylor expansion of theta in delta 3.434 * [backup-simplify]: Simplify theta into theta 3.434 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.434 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.434 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.434 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 3.434 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 3.434 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.434 * [taylor]: Taking taylor expansion of -1 in delta 3.434 * [backup-simplify]: Simplify -1 into -1 3.434 * [taylor]: Taking taylor expansion of phi1 in delta 3.434 * [backup-simplify]: Simplify phi1 into phi1 3.434 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.434 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.434 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.434 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 3.434 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.434 * [taylor]: Taking taylor expansion of -1 in delta 3.434 * [backup-simplify]: Simplify -1 into -1 3.434 * [taylor]: Taking taylor expansion of delta in delta 3.434 * [backup-simplify]: Simplify 0 into 0 3.434 * [backup-simplify]: Simplify 1 into 1 3.434 * [backup-simplify]: Simplify (/ -1 1) into -1 3.434 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.434 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in delta 3.434 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 3.434 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.434 * [taylor]: Taking taylor expansion of -1 in delta 3.435 * [backup-simplify]: Simplify -1 into -1 3.435 * [taylor]: Taking taylor expansion of delta in delta 3.435 * [backup-simplify]: Simplify 0 into 0 3.435 * [backup-simplify]: Simplify 1 into 1 3.435 * [backup-simplify]: Simplify (/ -1 1) into -1 3.435 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.435 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in delta 3.435 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 3.435 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 3.435 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.435 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.435 * [taylor]: Taking taylor expansion of -1 in delta 3.435 * [backup-simplify]: Simplify -1 into -1 3.435 * [taylor]: Taking taylor expansion of phi1 in delta 3.435 * [backup-simplify]: Simplify phi1 into phi1 3.435 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.435 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.435 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.435 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.435 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.435 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.435 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 3.435 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.435 * [taylor]: Taking taylor expansion of -1 in delta 3.435 * [backup-simplify]: Simplify -1 into -1 3.435 * [taylor]: Taking taylor expansion of delta in delta 3.435 * [backup-simplify]: Simplify 0 into 0 3.435 * [backup-simplify]: Simplify 1 into 1 3.436 * [backup-simplify]: Simplify (/ -1 1) into -1 3.436 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.436 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 3.436 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.436 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.436 * [taylor]: Taking taylor expansion of -1 in delta 3.436 * [backup-simplify]: Simplify -1 into -1 3.436 * [taylor]: Taking taylor expansion of phi1 in delta 3.436 * [backup-simplify]: Simplify phi1 into phi1 3.436 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.436 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.436 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.436 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 3.436 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 3.436 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 3.436 * [taylor]: Taking taylor expansion of -1 in delta 3.436 * [backup-simplify]: Simplify -1 into -1 3.436 * [taylor]: Taking taylor expansion of theta in delta 3.436 * [backup-simplify]: Simplify theta into theta 3.436 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.436 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.436 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.436 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 3.436 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 3.436 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.436 * [taylor]: Taking taylor expansion of -1 in delta 3.436 * [backup-simplify]: Simplify -1 into -1 3.436 * [taylor]: Taking taylor expansion of phi1 in delta 3.436 * [backup-simplify]: Simplify phi1 into phi1 3.436 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.436 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.437 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.437 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 3.437 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.437 * [taylor]: Taking taylor expansion of -1 in delta 3.437 * [backup-simplify]: Simplify -1 into -1 3.437 * [taylor]: Taking taylor expansion of delta in delta 3.437 * [backup-simplify]: Simplify 0 into 0 3.437 * [backup-simplify]: Simplify 1 into 1 3.437 * [backup-simplify]: Simplify (/ -1 1) into -1 3.437 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.437 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 3.437 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 3.437 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.437 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.437 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.438 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 3.438 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 3.438 * [backup-simplify]: Simplify (- 0) into 0 3.438 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 3.438 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 3.438 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 3.438 * [backup-simplify]: Simplify (- 0) into 0 3.438 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 3.438 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 3.439 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.439 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 3.440 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 3.440 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.441 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.441 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in phi1 3.442 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 3.442 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.442 * [taylor]: Taking taylor expansion of -1 in phi1 3.442 * [backup-simplify]: Simplify -1 into -1 3.442 * [taylor]: Taking taylor expansion of delta in phi1 3.442 * [backup-simplify]: Simplify delta into delta 3.442 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.442 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.442 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.442 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in phi1 3.442 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 3.442 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 3.442 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.442 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.442 * [taylor]: Taking taylor expansion of -1 in phi1 3.442 * [backup-simplify]: Simplify -1 into -1 3.442 * [taylor]: Taking taylor expansion of phi1 in phi1 3.442 * [backup-simplify]: Simplify 0 into 0 3.442 * [backup-simplify]: Simplify 1 into 1 3.443 * [backup-simplify]: Simplify (/ -1 1) into -1 3.443 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.443 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 3.443 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.443 * [taylor]: Taking taylor expansion of -1 in phi1 3.443 * [backup-simplify]: Simplify -1 into -1 3.443 * [taylor]: Taking taylor expansion of delta in phi1 3.443 * [backup-simplify]: Simplify delta into delta 3.443 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.443 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.443 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.443 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 3.443 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.443 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.443 * [taylor]: Taking taylor expansion of -1 in phi1 3.444 * [backup-simplify]: Simplify -1 into -1 3.444 * [taylor]: Taking taylor expansion of phi1 in phi1 3.444 * [backup-simplify]: Simplify 0 into 0 3.444 * [backup-simplify]: Simplify 1 into 1 3.444 * [backup-simplify]: Simplify (/ -1 1) into -1 3.444 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.444 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 3.444 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 3.444 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 3.444 * [taylor]: Taking taylor expansion of -1 in phi1 3.444 * [backup-simplify]: Simplify -1 into -1 3.444 * [taylor]: Taking taylor expansion of theta in phi1 3.444 * [backup-simplify]: Simplify theta into theta 3.444 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.445 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.445 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.445 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 3.445 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 3.445 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.445 * [taylor]: Taking taylor expansion of -1 in phi1 3.445 * [backup-simplify]: Simplify -1 into -1 3.445 * [taylor]: Taking taylor expansion of phi1 in phi1 3.445 * [backup-simplify]: Simplify 0 into 0 3.445 * [backup-simplify]: Simplify 1 into 1 3.445 * [backup-simplify]: Simplify (/ -1 1) into -1 3.445 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.445 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 3.445 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.445 * [taylor]: Taking taylor expansion of -1 in phi1 3.446 * [backup-simplify]: Simplify -1 into -1 3.446 * [taylor]: Taking taylor expansion of delta in phi1 3.446 * [backup-simplify]: Simplify delta into delta 3.446 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.446 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.446 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.446 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 3.446 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 3.446 * [backup-simplify]: Simplify (- 0) into 0 3.447 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 3.447 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 3.447 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 3.447 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 3.447 * [backup-simplify]: Simplify (- 0) into 0 3.447 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 3.448 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 3.448 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 3.448 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 3.448 * [backup-simplify]: Simplify (- 0) into 0 3.448 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 3.449 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 3.449 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 3.449 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 3.449 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 3.449 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.449 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 3.450 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 3.451 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.452 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.452 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in theta 3.452 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 3.452 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.452 * [taylor]: Taking taylor expansion of -1 in theta 3.452 * [backup-simplify]: Simplify -1 into -1 3.452 * [taylor]: Taking taylor expansion of delta in theta 3.452 * [backup-simplify]: Simplify delta into delta 3.452 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.452 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.453 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.453 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in theta 3.453 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 3.453 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 3.453 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.453 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.453 * [taylor]: Taking taylor expansion of -1 in theta 3.453 * [backup-simplify]: Simplify -1 into -1 3.453 * [taylor]: Taking taylor expansion of phi1 in theta 3.453 * [backup-simplify]: Simplify phi1 into phi1 3.453 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.453 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.453 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.453 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.453 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.453 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.453 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 3.453 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.453 * [taylor]: Taking taylor expansion of -1 in theta 3.454 * [backup-simplify]: Simplify -1 into -1 3.454 * [taylor]: Taking taylor expansion of delta in theta 3.454 * [backup-simplify]: Simplify delta into delta 3.454 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.454 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.454 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.454 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 3.454 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.454 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.454 * [taylor]: Taking taylor expansion of -1 in theta 3.454 * [backup-simplify]: Simplify -1 into -1 3.454 * [taylor]: Taking taylor expansion of phi1 in theta 3.454 * [backup-simplify]: Simplify phi1 into phi1 3.454 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.454 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.454 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.454 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 3.455 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 3.455 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 3.455 * [taylor]: Taking taylor expansion of -1 in theta 3.455 * [backup-simplify]: Simplify -1 into -1 3.455 * [taylor]: Taking taylor expansion of theta in theta 3.455 * [backup-simplify]: Simplify 0 into 0 3.455 * [backup-simplify]: Simplify 1 into 1 3.455 * [backup-simplify]: Simplify (/ -1 1) into -1 3.456 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.456 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 3.456 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 3.456 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.456 * [taylor]: Taking taylor expansion of -1 in theta 3.456 * [backup-simplify]: Simplify -1 into -1 3.456 * [taylor]: Taking taylor expansion of phi1 in theta 3.456 * [backup-simplify]: Simplify phi1 into phi1 3.456 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.456 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.456 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.456 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 3.456 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.456 * [taylor]: Taking taylor expansion of -1 in theta 3.456 * [backup-simplify]: Simplify -1 into -1 3.456 * [taylor]: Taking taylor expansion of delta in theta 3.456 * [backup-simplify]: Simplify delta into delta 3.456 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.456 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.457 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.457 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 3.457 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 3.457 * [backup-simplify]: Simplify (- 0) into 0 3.457 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 3.457 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 3.458 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 3.458 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 3.458 * [backup-simplify]: Simplify (- 0) into 0 3.458 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 3.458 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 3.459 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.459 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.459 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.459 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 3.459 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 3.459 * [backup-simplify]: Simplify (- 0) into 0 3.460 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 3.460 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 3.460 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 3.460 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 3.460 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 3.460 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.461 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 3.461 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 3.462 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.463 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.464 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 3.465 * [backup-simplify]: Simplify (+ 0) into 0 3.465 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.467 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.467 * [backup-simplify]: Simplify (+ 0 0) into 0 3.467 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 3.468 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 3.468 * [backup-simplify]: Simplify (+ 0) into 0 3.469 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 3.469 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.470 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 3.470 * [backup-simplify]: Simplify (- 0) into 0 3.471 * [backup-simplify]: Simplify (+ 0 0) into 0 3.471 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.471 * [backup-simplify]: Simplify (+ 0) into 0 3.472 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 3.472 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 3.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.473 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 3.474 * [backup-simplify]: Simplify (- 0) into 0 3.474 * [backup-simplify]: Simplify (+ 0 0) into 0 3.475 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 3.475 * [backup-simplify]: Simplify (+ 0) into 0 3.476 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.476 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.477 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.478 * [backup-simplify]: Simplify (+ 0 0) into 0 3.478 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 3.478 * [backup-simplify]: Simplify (+ 0 0) into 0 3.479 * [backup-simplify]: Simplify (- 0) into 0 3.479 * [backup-simplify]: Simplify (+ 0 0) into 0 3.479 * [taylor]: Taking taylor expansion of 0 in phi1 3.479 * [backup-simplify]: Simplify 0 into 0 3.479 * [taylor]: Taking taylor expansion of 0 in theta 3.479 * [backup-simplify]: Simplify 0 into 0 3.479 * [backup-simplify]: Simplify 0 into 0 3.480 * [backup-simplify]: Simplify (+ 0) into 0 3.480 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 3.480 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.482 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 3.482 * [backup-simplify]: Simplify (- 0) into 0 3.483 * [backup-simplify]: Simplify (+ 0 0) into 0 3.483 * [backup-simplify]: Simplify (+ 0) into 0 3.484 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 3.484 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.485 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 3.486 * [backup-simplify]: Simplify (- 0) into 0 3.486 * [backup-simplify]: Simplify (+ 0 0) into 0 3.486 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 3.487 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 3.487 * [backup-simplify]: Simplify (+ 0) into 0 3.488 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 3.488 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.489 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 3.489 * [backup-simplify]: Simplify (+ 0 0) into 0 3.490 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.490 * [backup-simplify]: Simplify (+ 0) into 0 3.491 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 3.491 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 3.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.492 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 3.493 * [backup-simplify]: Simplify (- 0) into 0 3.493 * [backup-simplify]: Simplify (+ 0 0) into 0 3.493 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 3.494 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 3.494 * [backup-simplify]: Simplify (+ 0 0) into 0 3.495 * [backup-simplify]: Simplify (- 0) into 0 3.495 * [backup-simplify]: Simplify (+ 0 0) into 0 3.495 * [taylor]: Taking taylor expansion of 0 in theta 3.495 * [backup-simplify]: Simplify 0 into 0 3.495 * [backup-simplify]: Simplify 0 into 0 3.495 * [backup-simplify]: Simplify (+ 0) into 0 3.496 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 3.496 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.497 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 3.498 * [backup-simplify]: Simplify (- 0) into 0 3.498 * [backup-simplify]: Simplify (+ 0 0) into 0 3.499 * [backup-simplify]: Simplify (+ 0) into 0 3.499 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 3.499 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.501 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 3.501 * [backup-simplify]: Simplify (- 0) into 0 3.501 * [backup-simplify]: Simplify (+ 0 0) into 0 3.502 * [backup-simplify]: Simplify (+ 0) into 0 3.502 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.510 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.510 * [backup-simplify]: Simplify (+ 0 0) into 0 3.511 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 3.511 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 3.512 * [backup-simplify]: Simplify (+ 0) into 0 3.512 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 3.512 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.514 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 3.514 * [backup-simplify]: Simplify (+ 0 0) into 0 3.514 * [backup-simplify]: Simplify (+ 0) into 0 3.515 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 3.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.516 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 3.517 * [backup-simplify]: Simplify (- 0) into 0 3.517 * [backup-simplify]: Simplify (+ 0 0) into 0 3.517 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.517 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 3.518 * [backup-simplify]: Simplify (+ 0) into 0 3.518 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.520 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.520 * [backup-simplify]: Simplify (+ 0 0) into 0 3.520 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 3.521 * [backup-simplify]: Simplify (+ 0 0) into 0 3.521 * [backup-simplify]: Simplify (- 0) into 0 3.521 * [backup-simplify]: Simplify (+ 0 0) into 0 3.521 * [backup-simplify]: Simplify 0 into 0 3.522 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.523 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.523 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.524 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.525 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.525 * [backup-simplify]: Simplify (+ 0 0) into 0 3.526 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 3.527 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 3.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.529 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.529 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.529 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.530 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.530 * [backup-simplify]: Simplify (- 0) into 0 3.531 * [backup-simplify]: Simplify (+ 0 0) into 0 3.531 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 3.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.532 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.532 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.533 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.533 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.533 * [backup-simplify]: Simplify (- 0) into 0 3.533 * [backup-simplify]: Simplify (+ 0 0) into 0 3.534 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 3.534 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.535 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.535 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.535 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.536 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.536 * [backup-simplify]: Simplify (+ 0 0) into 0 3.536 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 3.537 * [backup-simplify]: Simplify (+ 0 0) into 0 3.537 * [backup-simplify]: Simplify (- 0) into 0 3.537 * [backup-simplify]: Simplify (+ 0 0) into 0 3.537 * [taylor]: Taking taylor expansion of 0 in phi1 3.537 * [backup-simplify]: Simplify 0 into 0 3.537 * [taylor]: Taking taylor expansion of 0 in theta 3.537 * [backup-simplify]: Simplify 0 into 0 3.537 * [backup-simplify]: Simplify 0 into 0 3.537 * [taylor]: Taking taylor expansion of 0 in theta 3.537 * [backup-simplify]: Simplify 0 into 0 3.537 * [backup-simplify]: Simplify 0 into 0 3.538 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.538 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.538 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.539 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.539 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.539 * [backup-simplify]: Simplify (- 0) into 0 3.539 * [backup-simplify]: Simplify (+ 0 0) into 0 3.540 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.540 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.541 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.541 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.541 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.542 * [backup-simplify]: Simplify (- 0) into 0 3.542 * [backup-simplify]: Simplify (+ 0 0) into 0 3.542 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 3.543 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 3.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.544 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.544 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.544 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.545 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.545 * [backup-simplify]: Simplify (+ 0 0) into 0 3.545 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 3.546 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.546 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.546 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.547 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.547 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.547 * [backup-simplify]: Simplify (- 0) into 0 3.548 * [backup-simplify]: Simplify (+ 0 0) into 0 3.548 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 3.549 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 3.549 * [backup-simplify]: Simplify (+ 0 0) into 0 3.549 * [backup-simplify]: Simplify (- 0) into 0 3.549 * [backup-simplify]: Simplify (+ 0 0) into 0 3.549 * [taylor]: Taking taylor expansion of 0 in theta 3.549 * [backup-simplify]: Simplify 0 into 0 3.549 * [backup-simplify]: Simplify 0 into 0 3.550 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) 3.550 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 2 2) 3.550 * [backup-simplify]: Simplify (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) into (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 3.550 * [approximate]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in (delta phi1 theta) around 0 3.550 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in theta 3.550 * [taylor]: Taking taylor expansion of (sin phi1) in theta 3.550 * [taylor]: Taking taylor expansion of phi1 in theta 3.550 * [backup-simplify]: Simplify phi1 into phi1 3.550 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.551 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.551 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in theta 3.551 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 3.551 * [taylor]: Taking taylor expansion of (sin delta) in theta 3.551 * [taylor]: Taking taylor expansion of delta in theta 3.551 * [backup-simplify]: Simplify delta into delta 3.551 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.551 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.551 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 3.551 * [taylor]: Taking taylor expansion of (cos phi1) in theta 3.551 * [taylor]: Taking taylor expansion of phi1 in theta 3.551 * [backup-simplify]: Simplify phi1 into phi1 3.551 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.551 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.551 * [taylor]: Taking taylor expansion of (cos theta) in theta 3.551 * [taylor]: Taking taylor expansion of theta in theta 3.551 * [backup-simplify]: Simplify 0 into 0 3.551 * [backup-simplify]: Simplify 1 into 1 3.551 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in theta 3.551 * [taylor]: Taking taylor expansion of (sin phi1) in theta 3.551 * [taylor]: Taking taylor expansion of phi1 in theta 3.551 * [backup-simplify]: Simplify phi1 into phi1 3.551 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.551 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.551 * [taylor]: Taking taylor expansion of (cos delta) in theta 3.551 * [taylor]: Taking taylor expansion of delta in theta 3.551 * [backup-simplify]: Simplify delta into delta 3.551 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.551 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.551 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in phi1 3.551 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.551 * [taylor]: Taking taylor expansion of phi1 in phi1 3.551 * [backup-simplify]: Simplify 0 into 0 3.551 * [backup-simplify]: Simplify 1 into 1 3.551 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in phi1 3.551 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 3.551 * [taylor]: Taking taylor expansion of (sin delta) in phi1 3.551 * [taylor]: Taking taylor expansion of delta in phi1 3.551 * [backup-simplify]: Simplify delta into delta 3.551 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.551 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.551 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 3.551 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 3.551 * [taylor]: Taking taylor expansion of phi1 in phi1 3.551 * [backup-simplify]: Simplify 0 into 0 3.551 * [backup-simplify]: Simplify 1 into 1 3.551 * [taylor]: Taking taylor expansion of (cos theta) in phi1 3.551 * [taylor]: Taking taylor expansion of theta in phi1 3.551 * [backup-simplify]: Simplify theta into theta 3.551 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.551 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.551 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in phi1 3.551 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.552 * [taylor]: Taking taylor expansion of phi1 in phi1 3.552 * [backup-simplify]: Simplify 0 into 0 3.552 * [backup-simplify]: Simplify 1 into 1 3.552 * [taylor]: Taking taylor expansion of (cos delta) in phi1 3.552 * [taylor]: Taking taylor expansion of delta in phi1 3.552 * [backup-simplify]: Simplify delta into delta 3.552 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.552 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.552 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in delta 3.552 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.552 * [taylor]: Taking taylor expansion of phi1 in delta 3.552 * [backup-simplify]: Simplify phi1 into phi1 3.552 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.552 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.552 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in delta 3.552 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 3.552 * [taylor]: Taking taylor expansion of (sin delta) in delta 3.552 * [taylor]: Taking taylor expansion of delta in delta 3.552 * [backup-simplify]: Simplify 0 into 0 3.552 * [backup-simplify]: Simplify 1 into 1 3.552 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 3.552 * [taylor]: Taking taylor expansion of (cos phi1) in delta 3.552 * [taylor]: Taking taylor expansion of phi1 in delta 3.552 * [backup-simplify]: Simplify phi1 into phi1 3.552 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.552 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.552 * [taylor]: Taking taylor expansion of (cos theta) in delta 3.552 * [taylor]: Taking taylor expansion of theta in delta 3.552 * [backup-simplify]: Simplify theta into theta 3.552 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.552 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.552 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 3.552 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.552 * [taylor]: Taking taylor expansion of phi1 in delta 3.552 * [backup-simplify]: Simplify phi1 into phi1 3.552 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.552 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.552 * [taylor]: Taking taylor expansion of (cos delta) in delta 3.552 * [taylor]: Taking taylor expansion of delta in delta 3.552 * [backup-simplify]: Simplify 0 into 0 3.552 * [backup-simplify]: Simplify 1 into 1 3.552 * [taylor]: Taking taylor expansion of (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) in delta 3.552 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.552 * [taylor]: Taking taylor expansion of phi1 in delta 3.552 * [backup-simplify]: Simplify phi1 into phi1 3.552 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.552 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.552 * [taylor]: Taking taylor expansion of (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) in delta 3.552 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 3.552 * [taylor]: Taking taylor expansion of (sin delta) in delta 3.552 * [taylor]: Taking taylor expansion of delta in delta 3.552 * [backup-simplify]: Simplify 0 into 0 3.552 * [backup-simplify]: Simplify 1 into 1 3.552 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 3.552 * [taylor]: Taking taylor expansion of (cos phi1) in delta 3.553 * [taylor]: Taking taylor expansion of phi1 in delta 3.553 * [backup-simplify]: Simplify phi1 into phi1 3.553 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.553 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.553 * [taylor]: Taking taylor expansion of (cos theta) in delta 3.553 * [taylor]: Taking taylor expansion of theta in delta 3.553 * [backup-simplify]: Simplify theta into theta 3.553 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.553 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.553 * [taylor]: Taking taylor expansion of (* (sin phi1) (cos delta)) in delta 3.553 * [taylor]: Taking taylor expansion of (sin phi1) in delta 3.553 * [taylor]: Taking taylor expansion of phi1 in delta 3.553 * [backup-simplify]: Simplify phi1 into phi1 3.553 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.553 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.553 * [taylor]: Taking taylor expansion of (cos delta) in delta 3.553 * [taylor]: Taking taylor expansion of delta in delta 3.553 * [backup-simplify]: Simplify 0 into 0 3.553 * [backup-simplify]: Simplify 1 into 1 3.553 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 3.553 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 3.553 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 3.553 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 3.553 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 3.554 * [backup-simplify]: Simplify (- 0) into 0 3.554 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 3.554 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 3.554 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 3.554 * [backup-simplify]: Simplify (- 0) into 0 3.554 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 3.554 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 3.554 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 3.554 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 3.554 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 3.554 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 3.554 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 3.554 * [backup-simplify]: Simplify (+ 0 (sin phi1)) into (sin phi1) 3.554 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 3.554 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 3.554 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.554 * [taylor]: Taking taylor expansion of phi1 in phi1 3.554 * [backup-simplify]: Simplify 0 into 0 3.554 * [backup-simplify]: Simplify 1 into 1 3.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.555 * [backup-simplify]: Simplify (+ 0) into 0 3.555 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 3.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.556 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 3.556 * [backup-simplify]: Simplify (- 0) into 0 3.557 * [backup-simplify]: Simplify (+ 0 0) into 0 3.557 * [backup-simplify]: Simplify (+ 0) into 0 3.557 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 3.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.558 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 3.558 * [backup-simplify]: Simplify (- 0) into 0 3.558 * [backup-simplify]: Simplify (+ 0 0) into 0 3.558 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 3.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.559 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 3.559 * [backup-simplify]: Simplify (+ 0) into 0 3.560 * [backup-simplify]: Simplify (+ 0) into 0 3.560 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 3.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.561 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 3.561 * [backup-simplify]: Simplify (+ 0 0) into 0 3.561 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 3.561 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) 0) into (* (cos phi1) (cos theta)) 3.561 * [backup-simplify]: Simplify (+ 0) into 0 3.562 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 3.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.562 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 3.563 * [backup-simplify]: Simplify (+ 0 0) into 0 3.563 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 (sin phi1))) into (* (sin phi1) (* (cos phi1) (cos theta))) 3.563 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 3.563 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.563 * [taylor]: Taking taylor expansion of phi1 in phi1 3.563 * [backup-simplify]: Simplify 0 into 0 3.563 * [backup-simplify]: Simplify 1 into 1 3.563 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 3.563 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 3.563 * [taylor]: Taking taylor expansion of phi1 in phi1 3.563 * [backup-simplify]: Simplify 0 into 0 3.563 * [backup-simplify]: Simplify 1 into 1 3.563 * [taylor]: Taking taylor expansion of (cos theta) in phi1 3.563 * [taylor]: Taking taylor expansion of theta in phi1 3.563 * [backup-simplify]: Simplify theta into theta 3.563 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.563 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.563 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 3.563 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 3.563 * [backup-simplify]: Simplify (- 0) into 0 3.563 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 3.563 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 3.564 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 3.564 * [taylor]: Taking taylor expansion of 0 in theta 3.564 * [backup-simplify]: Simplify 0 into 0 3.564 * [backup-simplify]: Simplify 0 into 0 3.564 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.565 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 3.565 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.565 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 3.566 * [backup-simplify]: Simplify (- 0) into 0 3.566 * [backup-simplify]: Simplify (+ 0 0) into 0 3.566 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.567 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 3.567 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.568 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 3.568 * [backup-simplify]: Simplify (- 0) into 0 3.568 * [backup-simplify]: Simplify (+ 0 0) into 0 3.568 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 3.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.569 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 3.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 3.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.571 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 3.571 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.572 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 3.572 * [backup-simplify]: Simplify (+ 0 0) into 0 3.572 * [backup-simplify]: Simplify (+ (* (sin phi1) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (sin phi1))) 3.573 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (sin phi1)))) into (- (* 1/2 (sin phi1))) 3.573 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.574 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 3.574 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.575 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 3.575 * [backup-simplify]: Simplify (+ 0 0) into 0 3.575 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1)))) into (- (* 1/2 (pow (sin phi1) 2))) 3.575 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2))) in phi1 3.575 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 3.575 * [taylor]: Taking taylor expansion of 1/2 in phi1 3.575 * [backup-simplify]: Simplify 1/2 into 1/2 3.575 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 3.575 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.575 * [taylor]: Taking taylor expansion of phi1 in phi1 3.575 * [backup-simplify]: Simplify 0 into 0 3.575 * [backup-simplify]: Simplify 1 into 1 3.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.576 * [backup-simplify]: Simplify (+ 0) into 0 3.576 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 3.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.577 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 3.577 * [backup-simplify]: Simplify (- 0) into 0 3.577 * [backup-simplify]: Simplify (+ 0 0) into 0 3.578 * [backup-simplify]: Simplify (+ 0) into 0 3.578 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 3.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.579 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 3.579 * [taylor]: Taking taylor expansion of (cos theta) in theta 3.579 * [taylor]: Taking taylor expansion of theta in theta 3.579 * [backup-simplify]: Simplify 0 into 0 3.579 * [backup-simplify]: Simplify 1 into 1 3.579 * [backup-simplify]: Simplify 1 into 1 3.579 * [backup-simplify]: Simplify (* 1 1) into 1 3.579 * [taylor]: Taking taylor expansion of 1 in theta 3.579 * [backup-simplify]: Simplify 1 into 1 3.579 * [backup-simplify]: Simplify 1 into 1 3.579 * [backup-simplify]: Simplify 0 into 0 3.580 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 3.580 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 3.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 3.581 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 3.582 * [backup-simplify]: Simplify (- 0) into 0 3.582 * [backup-simplify]: Simplify (+ 0 0) into 0 3.582 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 3.583 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 3.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 3.584 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 3.584 * [backup-simplify]: Simplify (- 0) into 0 3.585 * [backup-simplify]: Simplify (+ 0 0) into 0 3.585 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos theta))))) into 0 3.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 3.587 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* -1/6 (* (cos phi1) (cos theta)))))) into (- (* 1/6 (* (cos phi1) (cos theta)))) 3.588 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 1) 1) (/ (pow 0 1) 1)) 0) into 0 3.588 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 3.589 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 3.590 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 3.590 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 3.591 * [backup-simplify]: Simplify (+ 0 0) into 0 3.591 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 -1/2) (+ (* 0 0) (* 0 1)))) into 0 3.591 * [backup-simplify]: Simplify (+ (- (* 1/6 (* (cos phi1) (cos theta)))) 0) into (- (* 1/6 (* (cos phi1) (cos theta)))) 3.592 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 3.592 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 3.593 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 3.594 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 3.594 * [backup-simplify]: Simplify (+ 0 0) into 0 3.594 * [backup-simplify]: Simplify (+ (* (sin phi1) (- (* 1/6 (* (cos phi1) (cos theta))))) (+ (* 0 (- (* 1/2 (sin phi1)))) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 (sin phi1))))) into (- (* 1/6 (* (sin phi1) (* (cos phi1) (cos theta))))) 3.594 * [taylor]: Taking taylor expansion of (- (* 1/6 (* (sin phi1) (* (cos phi1) (cos theta))))) in phi1 3.594 * [taylor]: Taking taylor expansion of (* 1/6 (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 3.594 * [taylor]: Taking taylor expansion of 1/6 in phi1 3.594 * [backup-simplify]: Simplify 1/6 into 1/6 3.594 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 3.594 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 3.594 * [taylor]: Taking taylor expansion of phi1 in phi1 3.594 * [backup-simplify]: Simplify 0 into 0 3.594 * [backup-simplify]: Simplify 1 into 1 3.594 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 3.594 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 3.594 * [taylor]: Taking taylor expansion of phi1 in phi1 3.594 * [backup-simplify]: Simplify 0 into 0 3.594 * [backup-simplify]: Simplify 1 into 1 3.594 * [taylor]: Taking taylor expansion of (cos theta) in phi1 3.594 * [taylor]: Taking taylor expansion of theta in phi1 3.594 * [backup-simplify]: Simplify theta into theta 3.594 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.595 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.595 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 3.595 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 3.595 * [backup-simplify]: Simplify (- 0) into 0 3.595 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 3.595 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 3.595 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 3.595 * [backup-simplify]: Simplify (* 1/6 0) into 0 3.595 * [backup-simplify]: Simplify (- 0) into 0 3.595 * [taylor]: Taking taylor expansion of 0 in theta 3.596 * [backup-simplify]: Simplify 0 into 0 3.596 * [backup-simplify]: Simplify 0 into 0 3.596 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.596 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 3.597 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.597 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 3.597 * [backup-simplify]: Simplify (- 0) into 0 3.598 * [backup-simplify]: Simplify (+ 0 0) into 0 3.598 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 3.599 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (cos theta)))) into (- (* 1/2 (cos theta))) 3.599 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.600 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (cos theta)))) (+ (* 1 0) (* 0 (cos theta)))) into 0 3.600 * [taylor]: Taking taylor expansion of 0 in theta 3.600 * [backup-simplify]: Simplify 0 into 0 3.600 * [backup-simplify]: Simplify 0 into 0 3.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.601 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 3.601 * [taylor]: Taking taylor expansion of 0 in theta 3.601 * [backup-simplify]: Simplify 0 into 0 3.601 * [backup-simplify]: Simplify 0 into 0 3.601 * [backup-simplify]: Simplify (+ 0) into 0 3.601 * [backup-simplify]: Simplify 0 into 0 3.601 * [backup-simplify]: Simplify 0 into 0 3.601 * [backup-simplify]: Simplify (+ (* 1 (pow (* 1 (* phi1 1)) 2)) (* 1 (* 1 (* phi1 delta)))) into (+ (pow phi1 2) (* delta phi1)) 3.601 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 3.602 * [approximate]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in (delta phi1 theta) around 0 3.602 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 3.602 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 3.602 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 3.602 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.602 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.602 * [taylor]: Taking taylor expansion of phi1 in theta 3.602 * [backup-simplify]: Simplify phi1 into phi1 3.602 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.602 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.602 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.602 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 3.602 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.602 * [taylor]: Taking taylor expansion of delta in theta 3.602 * [backup-simplify]: Simplify delta into delta 3.602 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.602 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.602 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.602 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 3.602 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 3.602 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.602 * [taylor]: Taking taylor expansion of delta in theta 3.602 * [backup-simplify]: Simplify delta into delta 3.602 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.602 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.602 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.602 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 3.602 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 3.602 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 3.602 * [taylor]: Taking taylor expansion of theta in theta 3.602 * [backup-simplify]: Simplify 0 into 0 3.602 * [backup-simplify]: Simplify 1 into 1 3.603 * [backup-simplify]: Simplify (/ 1 1) into 1 3.603 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.603 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 3.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.603 * [taylor]: Taking taylor expansion of phi1 in theta 3.603 * [backup-simplify]: Simplify phi1 into phi1 3.603 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.603 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.603 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.603 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.603 * [taylor]: Taking taylor expansion of phi1 in theta 3.603 * [backup-simplify]: Simplify phi1 into phi1 3.603 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.603 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.603 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.603 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in phi1 3.603 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 3.603 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 3.603 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.603 * [taylor]: Taking taylor expansion of phi1 in phi1 3.603 * [backup-simplify]: Simplify 0 into 0 3.603 * [backup-simplify]: Simplify 1 into 1 3.604 * [backup-simplify]: Simplify (/ 1 1) into 1 3.604 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.604 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 3.604 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.604 * [taylor]: Taking taylor expansion of delta in phi1 3.604 * [backup-simplify]: Simplify delta into delta 3.604 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.604 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.604 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.604 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 3.604 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 3.604 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.604 * [taylor]: Taking taylor expansion of delta in phi1 3.604 * [backup-simplify]: Simplify delta into delta 3.604 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.604 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.604 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.604 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 3.604 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 3.604 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 3.604 * [taylor]: Taking taylor expansion of theta in phi1 3.604 * [backup-simplify]: Simplify theta into theta 3.604 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.604 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.604 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.604 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 3.604 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.604 * [taylor]: Taking taylor expansion of phi1 in phi1 3.604 * [backup-simplify]: Simplify 0 into 0 3.604 * [backup-simplify]: Simplify 1 into 1 3.605 * [backup-simplify]: Simplify (/ 1 1) into 1 3.605 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.605 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.605 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.605 * [taylor]: Taking taylor expansion of phi1 in phi1 3.605 * [backup-simplify]: Simplify 0 into 0 3.605 * [backup-simplify]: Simplify 1 into 1 3.605 * [backup-simplify]: Simplify (/ 1 1) into 1 3.605 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.605 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 3.605 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 3.605 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 3.605 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.605 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.605 * [taylor]: Taking taylor expansion of phi1 in delta 3.605 * [backup-simplify]: Simplify phi1 into phi1 3.605 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.605 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.605 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.605 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 3.605 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.605 * [taylor]: Taking taylor expansion of delta in delta 3.605 * [backup-simplify]: Simplify 0 into 0 3.605 * [backup-simplify]: Simplify 1 into 1 3.606 * [backup-simplify]: Simplify (/ 1 1) into 1 3.606 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.606 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 3.606 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 3.606 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.606 * [taylor]: Taking taylor expansion of delta in delta 3.606 * [backup-simplify]: Simplify 0 into 0 3.606 * [backup-simplify]: Simplify 1 into 1 3.606 * [backup-simplify]: Simplify (/ 1 1) into 1 3.606 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.606 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 3.606 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 3.606 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 3.606 * [taylor]: Taking taylor expansion of theta in delta 3.606 * [backup-simplify]: Simplify theta into theta 3.606 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.606 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.606 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.606 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 3.606 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.606 * [taylor]: Taking taylor expansion of phi1 in delta 3.606 * [backup-simplify]: Simplify phi1 into phi1 3.606 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.606 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.606 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.606 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.606 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.606 * [taylor]: Taking taylor expansion of phi1 in delta 3.607 * [backup-simplify]: Simplify phi1 into phi1 3.607 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.607 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.607 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.607 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in delta 3.607 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in delta 3.607 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in delta 3.607 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.607 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.607 * [taylor]: Taking taylor expansion of phi1 in delta 3.607 * [backup-simplify]: Simplify phi1 into phi1 3.607 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.607 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.607 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.607 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 3.607 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.607 * [taylor]: Taking taylor expansion of delta in delta 3.607 * [backup-simplify]: Simplify 0 into 0 3.607 * [backup-simplify]: Simplify 1 into 1 3.607 * [backup-simplify]: Simplify (/ 1 1) into 1 3.607 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.607 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 3.607 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 3.607 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.607 * [taylor]: Taking taylor expansion of delta in delta 3.607 * [backup-simplify]: Simplify 0 into 0 3.607 * [backup-simplify]: Simplify 1 into 1 3.608 * [backup-simplify]: Simplify (/ 1 1) into 1 3.608 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.608 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 3.608 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 3.608 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 3.608 * [taylor]: Taking taylor expansion of theta in delta 3.608 * [backup-simplify]: Simplify theta into theta 3.608 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.608 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.608 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.608 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 3.608 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.608 * [taylor]: Taking taylor expansion of phi1 in delta 3.608 * [backup-simplify]: Simplify phi1 into phi1 3.608 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.608 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.608 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.608 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 3.608 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.608 * [taylor]: Taking taylor expansion of phi1 in delta 3.608 * [backup-simplify]: Simplify phi1 into phi1 3.608 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.608 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.608 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.608 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.608 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.609 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.609 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 3.609 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 3.609 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 3.609 * [backup-simplify]: Simplify (- 0) into 0 3.609 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 3.609 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 3.609 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 3.609 * [backup-simplify]: Simplify (- 0) into 0 3.610 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 3.610 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 3.610 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.610 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 3.610 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.610 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.610 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.610 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 3.610 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in phi1 3.610 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in phi1 3.610 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in phi1 3.610 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.611 * [taylor]: Taking taylor expansion of phi1 in phi1 3.611 * [backup-simplify]: Simplify 0 into 0 3.611 * [backup-simplify]: Simplify 1 into 1 3.611 * [backup-simplify]: Simplify (/ 1 1) into 1 3.611 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.611 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 3.611 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.611 * [taylor]: Taking taylor expansion of delta in phi1 3.611 * [backup-simplify]: Simplify delta into delta 3.611 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.611 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.611 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.611 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 3.611 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 3.611 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.611 * [taylor]: Taking taylor expansion of delta in phi1 3.611 * [backup-simplify]: Simplify delta into delta 3.611 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.611 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.611 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.611 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 3.611 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 3.611 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 3.611 * [taylor]: Taking taylor expansion of theta in phi1 3.611 * [backup-simplify]: Simplify theta into theta 3.611 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.611 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.611 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.612 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 3.612 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.612 * [taylor]: Taking taylor expansion of phi1 in phi1 3.612 * [backup-simplify]: Simplify 0 into 0 3.612 * [backup-simplify]: Simplify 1 into 1 3.617 * [backup-simplify]: Simplify (/ 1 1) into 1 3.617 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.617 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 3.617 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.617 * [taylor]: Taking taylor expansion of phi1 in phi1 3.617 * [backup-simplify]: Simplify 0 into 0 3.617 * [backup-simplify]: Simplify 1 into 1 3.617 * [backup-simplify]: Simplify (/ 1 1) into 1 3.618 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.618 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 3.618 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 3.618 * [backup-simplify]: Simplify (- 0) into 0 3.618 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 3.618 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 3.618 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 3.618 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 3.618 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 3.618 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 3.618 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 3.619 * [backup-simplify]: Simplify (- 0) into 0 3.619 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 3.619 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 3.619 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.619 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 3.619 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 3.619 * [taylor]: Taking taylor expansion of (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) in theta 3.620 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) in theta 3.620 * [taylor]: Taking taylor expansion of (* (sin (/ 1 phi1)) (cos (/ 1 delta))) in theta 3.620 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.620 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.620 * [taylor]: Taking taylor expansion of phi1 in theta 3.620 * [backup-simplify]: Simplify phi1 into phi1 3.620 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.620 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.620 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.620 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 3.620 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.620 * [taylor]: Taking taylor expansion of delta in theta 3.620 * [backup-simplify]: Simplify delta into delta 3.620 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.620 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.620 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.620 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 3.620 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 3.620 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.620 * [taylor]: Taking taylor expansion of delta in theta 3.620 * [backup-simplify]: Simplify delta into delta 3.620 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.620 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.620 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.620 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 3.620 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 3.620 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 3.620 * [taylor]: Taking taylor expansion of theta in theta 3.620 * [backup-simplify]: Simplify 0 into 0 3.620 * [backup-simplify]: Simplify 1 into 1 3.620 * [backup-simplify]: Simplify (/ 1 1) into 1 3.621 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.621 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 3.621 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.621 * [taylor]: Taking taylor expansion of phi1 in theta 3.621 * [backup-simplify]: Simplify phi1 into phi1 3.621 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.621 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.621 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.621 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 3.621 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.621 * [taylor]: Taking taylor expansion of phi1 in theta 3.621 * [backup-simplify]: Simplify phi1 into phi1 3.621 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.621 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.621 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.621 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.621 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.621 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.621 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 3.621 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 3.621 * [backup-simplify]: Simplify (- 0) into 0 3.622 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 3.622 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (cos (/ 1 delta))) into (* (sin (/ 1 phi1)) (cos (/ 1 delta))) 3.622 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 3.622 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 3.622 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 3.622 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 3.622 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 3.622 * [backup-simplify]: Simplify (- 0) into 0 3.622 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 3.622 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 3.623 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.623 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 3.623 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 3.623 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 3.623 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 3.623 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 3.623 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) into (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) (sin (/ 1 phi1))) 3.624 * [backup-simplify]: Simplify (+ 0) into 0 3.624 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.624 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.625 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.625 * [backup-simplify]: Simplify (+ 0 0) into 0 3.625 * [backup-simplify]: Simplify (+ 0) into 0 3.626 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.626 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.626 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.627 * [backup-simplify]: Simplify (+ 0 0) into 0 3.627 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 3.627 * [backup-simplify]: Simplify (+ 0) into 0 3.627 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 3.627 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.628 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 3.628 * [backup-simplify]: Simplify (- 0) into 0 3.629 * [backup-simplify]: Simplify (+ 0 0) into 0 3.629 * [backup-simplify]: Simplify (+ 0) into 0 3.629 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 3.629 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 3.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.630 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 3.630 * [backup-simplify]: Simplify (- 0) into 0 3.630 * [backup-simplify]: Simplify (+ 0 0) into 0 3.631 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 3.631 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 3.631 * [backup-simplify]: Simplify (+ 0 0) into 0 3.631 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.631 * [taylor]: Taking taylor expansion of 0 in phi1 3.631 * [backup-simplify]: Simplify 0 into 0 3.631 * [taylor]: Taking taylor expansion of 0 in theta 3.631 * [backup-simplify]: Simplify 0 into 0 3.631 * [backup-simplify]: Simplify 0 into 0 3.632 * [backup-simplify]: Simplify (+ 0) into 0 3.632 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 3.632 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.633 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 3.633 * [backup-simplify]: Simplify (- 0) into 0 3.633 * [backup-simplify]: Simplify (+ 0 0) into 0 3.633 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 3.633 * [backup-simplify]: Simplify (+ 0) into 0 3.634 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 3.634 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 3.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.635 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 3.635 * [backup-simplify]: Simplify (- 0) into 0 3.635 * [backup-simplify]: Simplify (+ 0 0) into 0 3.635 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 3.635 * [backup-simplify]: Simplify (+ 0) into 0 3.636 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 3.636 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.637 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 3.637 * [backup-simplify]: Simplify (+ 0 0) into 0 3.637 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 3.637 * [backup-simplify]: Simplify (+ 0 0) into 0 3.638 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.638 * [taylor]: Taking taylor expansion of 0 in theta 3.638 * [backup-simplify]: Simplify 0 into 0 3.638 * [backup-simplify]: Simplify 0 into 0 3.638 * [backup-simplify]: Simplify (+ 0) into 0 3.638 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.638 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.639 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.639 * [backup-simplify]: Simplify (+ 0 0) into 0 3.640 * [backup-simplify]: Simplify (+ 0) into 0 3.640 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 3.640 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.641 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 3.641 * [backup-simplify]: Simplify (- 0) into 0 3.641 * [backup-simplify]: Simplify (+ 0 0) into 0 3.641 * [backup-simplify]: Simplify (+ 0) into 0 3.642 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 3.642 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.643 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 3.643 * [backup-simplify]: Simplify (+ 0 0) into 0 3.643 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (cos (/ 1 delta)))) into 0 3.643 * [backup-simplify]: Simplify (+ 0) into 0 3.643 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 3.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.644 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 3.644 * [backup-simplify]: Simplify (- 0) into 0 3.645 * [backup-simplify]: Simplify (+ 0 0) into 0 3.645 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 3.645 * [backup-simplify]: Simplify (+ 0) into 0 3.645 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 3.645 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.646 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 3.646 * [backup-simplify]: Simplify (+ 0 0) into 0 3.647 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 3.647 * [backup-simplify]: Simplify (+ 0 0) into 0 3.648 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (* 0 (sin (/ 1 phi1)))) into 0 3.648 * [backup-simplify]: Simplify 0 into 0 3.649 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.649 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.650 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.651 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.651 * [backup-simplify]: Simplify (+ 0 0) into 0 3.652 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.653 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.653 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.654 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.654 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.655 * [backup-simplify]: Simplify (+ 0 0) into 0 3.655 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 3.656 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.657 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.657 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.658 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.658 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.659 * [backup-simplify]: Simplify (- 0) into 0 3.659 * [backup-simplify]: Simplify (+ 0 0) into 0 3.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.661 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.661 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.662 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.662 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.663 * [backup-simplify]: Simplify (- 0) into 0 3.663 * [backup-simplify]: Simplify (+ 0 0) into 0 3.664 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 3.664 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 3.665 * [backup-simplify]: Simplify (+ 0 0) into 0 3.666 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 3.666 * [taylor]: Taking taylor expansion of 0 in phi1 3.666 * [backup-simplify]: Simplify 0 into 0 3.666 * [taylor]: Taking taylor expansion of 0 in theta 3.666 * [backup-simplify]: Simplify 0 into 0 3.666 * [backup-simplify]: Simplify 0 into 0 3.666 * [taylor]: Taking taylor expansion of 0 in theta 3.666 * [backup-simplify]: Simplify 0 into 0 3.666 * [backup-simplify]: Simplify 0 into 0 3.667 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.668 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.669 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.669 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.670 * [backup-simplify]: Simplify (- 0) into 0 3.670 * [backup-simplify]: Simplify (+ 0 0) into 0 3.671 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 3.671 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.672 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.672 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.673 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.674 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.674 * [backup-simplify]: Simplify (- 0) into 0 3.674 * [backup-simplify]: Simplify (+ 0 0) into 0 3.675 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 3.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.676 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.676 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.677 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.677 * [backup-simplify]: Simplify (+ 0 0) into 0 3.677 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 3.678 * [backup-simplify]: Simplify (+ 0 0) into 0 3.678 * [backup-simplify]: Simplify (+ (* (+ (* (sin (/ 1 phi1)) (cos (/ 1 delta))) (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 3.678 * [taylor]: Taking taylor expansion of 0 in theta 3.678 * [backup-simplify]: Simplify 0 into 0 3.678 * [backup-simplify]: Simplify 0 into 0 3.679 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 (/ 1 phi1))) (cos (/ 1 (/ 1 delta)))) (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1)))))) (sin (/ 1 (/ 1 phi1)))) into (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 3.679 * [backup-simplify]: Simplify (* (+ (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta))))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))) (sin (/ 1 (- phi1)))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 3.679 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in (delta phi1 theta) around 0 3.679 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 3.679 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.679 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.679 * [taylor]: Taking taylor expansion of -1 in theta 3.679 * [backup-simplify]: Simplify -1 into -1 3.679 * [taylor]: Taking taylor expansion of phi1 in theta 3.679 * [backup-simplify]: Simplify phi1 into phi1 3.679 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.679 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.679 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.679 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in theta 3.679 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 3.679 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.679 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.679 * [taylor]: Taking taylor expansion of -1 in theta 3.679 * [backup-simplify]: Simplify -1 into -1 3.679 * [taylor]: Taking taylor expansion of phi1 in theta 3.679 * [backup-simplify]: Simplify phi1 into phi1 3.679 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.680 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.680 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.680 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 3.680 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.680 * [taylor]: Taking taylor expansion of -1 in theta 3.680 * [backup-simplify]: Simplify -1 into -1 3.680 * [taylor]: Taking taylor expansion of delta in theta 3.680 * [backup-simplify]: Simplify delta into delta 3.680 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.680 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.680 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.680 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 3.680 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 3.680 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.680 * [taylor]: Taking taylor expansion of -1 in theta 3.680 * [backup-simplify]: Simplify -1 into -1 3.680 * [taylor]: Taking taylor expansion of phi1 in theta 3.680 * [backup-simplify]: Simplify phi1 into phi1 3.680 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.680 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.680 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.680 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 3.680 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 3.680 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 3.680 * [taylor]: Taking taylor expansion of -1 in theta 3.680 * [backup-simplify]: Simplify -1 into -1 3.680 * [taylor]: Taking taylor expansion of theta in theta 3.680 * [backup-simplify]: Simplify 0 into 0 3.680 * [backup-simplify]: Simplify 1 into 1 3.680 * [backup-simplify]: Simplify (/ -1 1) into -1 3.681 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.681 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 3.681 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.681 * [taylor]: Taking taylor expansion of -1 in theta 3.681 * [backup-simplify]: Simplify -1 into -1 3.681 * [taylor]: Taking taylor expansion of delta in theta 3.681 * [backup-simplify]: Simplify delta into delta 3.681 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.681 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.681 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.681 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 3.681 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.681 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.681 * [taylor]: Taking taylor expansion of -1 in phi1 3.681 * [backup-simplify]: Simplify -1 into -1 3.681 * [taylor]: Taking taylor expansion of phi1 in phi1 3.681 * [backup-simplify]: Simplify 0 into 0 3.681 * [backup-simplify]: Simplify 1 into 1 3.681 * [backup-simplify]: Simplify (/ -1 1) into -1 3.681 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.681 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in phi1 3.681 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 3.681 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.681 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.681 * [taylor]: Taking taylor expansion of -1 in phi1 3.681 * [backup-simplify]: Simplify -1 into -1 3.681 * [taylor]: Taking taylor expansion of phi1 in phi1 3.681 * [backup-simplify]: Simplify 0 into 0 3.681 * [backup-simplify]: Simplify 1 into 1 3.682 * [backup-simplify]: Simplify (/ -1 1) into -1 3.682 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.682 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 3.682 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.682 * [taylor]: Taking taylor expansion of -1 in phi1 3.682 * [backup-simplify]: Simplify -1 into -1 3.682 * [taylor]: Taking taylor expansion of delta in phi1 3.682 * [backup-simplify]: Simplify delta into delta 3.682 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.682 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.682 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.682 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 3.682 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 3.682 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.682 * [taylor]: Taking taylor expansion of -1 in phi1 3.682 * [backup-simplify]: Simplify -1 into -1 3.682 * [taylor]: Taking taylor expansion of phi1 in phi1 3.682 * [backup-simplify]: Simplify 0 into 0 3.682 * [backup-simplify]: Simplify 1 into 1 3.682 * [backup-simplify]: Simplify (/ -1 1) into -1 3.682 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.682 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 3.682 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 3.682 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 3.682 * [taylor]: Taking taylor expansion of -1 in phi1 3.682 * [backup-simplify]: Simplify -1 into -1 3.682 * [taylor]: Taking taylor expansion of theta in phi1 3.682 * [backup-simplify]: Simplify theta into theta 3.683 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.683 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.683 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.683 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 3.683 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.683 * [taylor]: Taking taylor expansion of -1 in phi1 3.683 * [backup-simplify]: Simplify -1 into -1 3.683 * [taylor]: Taking taylor expansion of delta in phi1 3.683 * [backup-simplify]: Simplify delta into delta 3.683 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.683 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.683 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.683 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 3.683 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.683 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.683 * [taylor]: Taking taylor expansion of -1 in delta 3.683 * [backup-simplify]: Simplify -1 into -1 3.683 * [taylor]: Taking taylor expansion of phi1 in delta 3.683 * [backup-simplify]: Simplify phi1 into phi1 3.683 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.683 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.683 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.683 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 3.683 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 3.683 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.683 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.683 * [taylor]: Taking taylor expansion of -1 in delta 3.683 * [backup-simplify]: Simplify -1 into -1 3.683 * [taylor]: Taking taylor expansion of phi1 in delta 3.683 * [backup-simplify]: Simplify phi1 into phi1 3.683 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.683 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.683 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.683 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 3.683 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.683 * [taylor]: Taking taylor expansion of -1 in delta 3.683 * [backup-simplify]: Simplify -1 into -1 3.683 * [taylor]: Taking taylor expansion of delta in delta 3.683 * [backup-simplify]: Simplify 0 into 0 3.683 * [backup-simplify]: Simplify 1 into 1 3.684 * [backup-simplify]: Simplify (/ -1 1) into -1 3.684 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.684 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 3.684 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 3.684 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.684 * [taylor]: Taking taylor expansion of -1 in delta 3.684 * [backup-simplify]: Simplify -1 into -1 3.684 * [taylor]: Taking taylor expansion of phi1 in delta 3.684 * [backup-simplify]: Simplify phi1 into phi1 3.684 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.684 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.684 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.684 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 3.684 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 3.684 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 3.684 * [taylor]: Taking taylor expansion of -1 in delta 3.684 * [backup-simplify]: Simplify -1 into -1 3.684 * [taylor]: Taking taylor expansion of theta in delta 3.684 * [backup-simplify]: Simplify theta into theta 3.684 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.684 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.684 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.684 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 3.684 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.684 * [taylor]: Taking taylor expansion of -1 in delta 3.684 * [backup-simplify]: Simplify -1 into -1 3.684 * [taylor]: Taking taylor expansion of delta in delta 3.684 * [backup-simplify]: Simplify 0 into 0 3.684 * [backup-simplify]: Simplify 1 into 1 3.685 * [backup-simplify]: Simplify (/ -1 1) into -1 3.685 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.685 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in delta 3.685 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.685 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.685 * [taylor]: Taking taylor expansion of -1 in delta 3.685 * [backup-simplify]: Simplify -1 into -1 3.685 * [taylor]: Taking taylor expansion of phi1 in delta 3.685 * [backup-simplify]: Simplify phi1 into phi1 3.685 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.685 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.685 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.685 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in delta 3.685 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in delta 3.685 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 3.685 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.685 * [taylor]: Taking taylor expansion of -1 in delta 3.685 * [backup-simplify]: Simplify -1 into -1 3.685 * [taylor]: Taking taylor expansion of phi1 in delta 3.685 * [backup-simplify]: Simplify phi1 into phi1 3.685 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.685 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.685 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.685 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 3.685 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.685 * [taylor]: Taking taylor expansion of -1 in delta 3.685 * [backup-simplify]: Simplify -1 into -1 3.685 * [taylor]: Taking taylor expansion of delta in delta 3.685 * [backup-simplify]: Simplify 0 into 0 3.685 * [backup-simplify]: Simplify 1 into 1 3.686 * [backup-simplify]: Simplify (/ -1 1) into -1 3.686 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.686 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 3.686 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 3.686 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.686 * [taylor]: Taking taylor expansion of -1 in delta 3.686 * [backup-simplify]: Simplify -1 into -1 3.686 * [taylor]: Taking taylor expansion of phi1 in delta 3.686 * [backup-simplify]: Simplify phi1 into phi1 3.686 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.686 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.686 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.686 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 3.686 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 3.686 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 3.686 * [taylor]: Taking taylor expansion of -1 in delta 3.686 * [backup-simplify]: Simplify -1 into -1 3.686 * [taylor]: Taking taylor expansion of theta in delta 3.686 * [backup-simplify]: Simplify theta into theta 3.686 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.686 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.686 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.686 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 3.686 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.686 * [taylor]: Taking taylor expansion of -1 in delta 3.686 * [backup-simplify]: Simplify -1 into -1 3.686 * [taylor]: Taking taylor expansion of delta in delta 3.686 * [backup-simplify]: Simplify 0 into 0 3.686 * [backup-simplify]: Simplify 1 into 1 3.687 * [backup-simplify]: Simplify (/ -1 1) into -1 3.687 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.687 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.687 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.687 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.687 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.687 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.687 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.687 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 3.687 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 3.687 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 3.688 * [backup-simplify]: Simplify (- 0) into 0 3.688 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 3.688 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 3.688 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 3.688 * [backup-simplify]: Simplify (- 0) into 0 3.688 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 3.688 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 3.688 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.688 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 3.689 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 3.689 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in phi1 3.689 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.689 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.689 * [taylor]: Taking taylor expansion of -1 in phi1 3.689 * [backup-simplify]: Simplify -1 into -1 3.689 * [taylor]: Taking taylor expansion of phi1 in phi1 3.689 * [backup-simplify]: Simplify 0 into 0 3.689 * [backup-simplify]: Simplify 1 into 1 3.689 * [backup-simplify]: Simplify (/ -1 1) into -1 3.689 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.689 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in phi1 3.689 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in phi1 3.689 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 3.689 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.689 * [taylor]: Taking taylor expansion of -1 in phi1 3.689 * [backup-simplify]: Simplify -1 into -1 3.689 * [taylor]: Taking taylor expansion of phi1 in phi1 3.689 * [backup-simplify]: Simplify 0 into 0 3.689 * [backup-simplify]: Simplify 1 into 1 3.690 * [backup-simplify]: Simplify (/ -1 1) into -1 3.690 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.690 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 3.690 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.690 * [taylor]: Taking taylor expansion of -1 in phi1 3.690 * [backup-simplify]: Simplify -1 into -1 3.690 * [taylor]: Taking taylor expansion of delta in phi1 3.690 * [backup-simplify]: Simplify delta into delta 3.690 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.690 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.690 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.690 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 3.690 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 3.690 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.690 * [taylor]: Taking taylor expansion of -1 in phi1 3.690 * [backup-simplify]: Simplify -1 into -1 3.690 * [taylor]: Taking taylor expansion of phi1 in phi1 3.690 * [backup-simplify]: Simplify 0 into 0 3.690 * [backup-simplify]: Simplify 1 into 1 3.690 * [backup-simplify]: Simplify (/ -1 1) into -1 3.690 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.690 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 3.690 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 3.690 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 3.690 * [taylor]: Taking taylor expansion of -1 in phi1 3.690 * [backup-simplify]: Simplify -1 into -1 3.691 * [taylor]: Taking taylor expansion of theta in phi1 3.691 * [backup-simplify]: Simplify theta into theta 3.691 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.691 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.691 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.691 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 3.691 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.691 * [taylor]: Taking taylor expansion of -1 in phi1 3.691 * [backup-simplify]: Simplify -1 into -1 3.691 * [taylor]: Taking taylor expansion of delta in phi1 3.691 * [backup-simplify]: Simplify delta into delta 3.691 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.691 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.691 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.691 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 3.691 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 3.691 * [backup-simplify]: Simplify (- 0) into 0 3.691 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 3.691 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 3.691 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 3.692 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 3.692 * [backup-simplify]: Simplify (- 0) into 0 3.692 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 3.692 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 3.692 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 3.692 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 3.692 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 3.692 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.692 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 3.693 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 3.693 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) in theta 3.693 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.693 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.693 * [taylor]: Taking taylor expansion of -1 in theta 3.693 * [backup-simplify]: Simplify -1 into -1 3.693 * [taylor]: Taking taylor expansion of phi1 in theta 3.693 * [backup-simplify]: Simplify phi1 into phi1 3.693 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.693 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.693 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.693 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) in theta 3.693 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (cos (/ -1 delta))) in theta 3.693 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 3.693 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.693 * [taylor]: Taking taylor expansion of -1 in theta 3.693 * [backup-simplify]: Simplify -1 into -1 3.693 * [taylor]: Taking taylor expansion of phi1 in theta 3.693 * [backup-simplify]: Simplify phi1 into phi1 3.693 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.693 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.693 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.693 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 3.693 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.693 * [taylor]: Taking taylor expansion of -1 in theta 3.693 * [backup-simplify]: Simplify -1 into -1 3.693 * [taylor]: Taking taylor expansion of delta in theta 3.693 * [backup-simplify]: Simplify delta into delta 3.693 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.694 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.694 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.694 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 3.694 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 3.694 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.694 * [taylor]: Taking taylor expansion of -1 in theta 3.694 * [backup-simplify]: Simplify -1 into -1 3.694 * [taylor]: Taking taylor expansion of phi1 in theta 3.694 * [backup-simplify]: Simplify phi1 into phi1 3.694 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.694 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.694 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.694 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 3.694 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 3.694 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 3.694 * [taylor]: Taking taylor expansion of -1 in theta 3.694 * [backup-simplify]: Simplify -1 into -1 3.694 * [taylor]: Taking taylor expansion of theta in theta 3.694 * [backup-simplify]: Simplify 0 into 0 3.694 * [backup-simplify]: Simplify 1 into 1 3.694 * [backup-simplify]: Simplify (/ -1 1) into -1 3.694 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.694 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 3.694 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.694 * [taylor]: Taking taylor expansion of -1 in theta 3.694 * [backup-simplify]: Simplify -1 into -1 3.694 * [taylor]: Taking taylor expansion of delta in theta 3.694 * [backup-simplify]: Simplify delta into delta 3.694 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.695 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.695 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.695 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.695 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.695 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.695 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 3.695 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 3.695 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 3.695 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 3.695 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 3.695 * [backup-simplify]: Simplify (- 0) into 0 3.695 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 3.695 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (cos (/ -1 delta))) into (* (sin (/ -1 phi1)) (cos (/ -1 delta))) 3.695 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 3.696 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 3.696 * [backup-simplify]: Simplify (- 0) into 0 3.696 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 3.696 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 3.696 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 3.696 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 3.696 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 3.696 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.696 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) 3.697 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 3.697 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into (* (sin (/ -1 phi1)) (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) 3.697 * [backup-simplify]: Simplify (+ 0) into 0 3.698 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.698 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.698 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.699 * [backup-simplify]: Simplify (+ 0 0) into 0 3.699 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 3.699 * [backup-simplify]: Simplify (+ 0) into 0 3.699 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 3.699 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 3.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.700 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 3.700 * [backup-simplify]: Simplify (- 0) into 0 3.701 * [backup-simplify]: Simplify (+ 0 0) into 0 3.701 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.701 * [backup-simplify]: Simplify (+ 0) into 0 3.701 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 3.701 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.702 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 3.702 * [backup-simplify]: Simplify (- 0) into 0 3.703 * [backup-simplify]: Simplify (+ 0 0) into 0 3.703 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 3.703 * [backup-simplify]: Simplify (+ 0 0) into 0 3.703 * [backup-simplify]: Simplify (+ 0) into 0 3.704 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.704 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.705 * [backup-simplify]: Simplify (+ 0 0) into 0 3.705 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 3.705 * [taylor]: Taking taylor expansion of 0 in phi1 3.705 * [backup-simplify]: Simplify 0 into 0 3.705 * [taylor]: Taking taylor expansion of 0 in theta 3.705 * [backup-simplify]: Simplify 0 into 0 3.705 * [backup-simplify]: Simplify 0 into 0 3.705 * [backup-simplify]: Simplify (+ 0) into 0 3.706 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 3.706 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.706 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 3.707 * [backup-simplify]: Simplify (- 0) into 0 3.707 * [backup-simplify]: Simplify (+ 0 0) into 0 3.707 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 3.707 * [backup-simplify]: Simplify (+ 0) into 0 3.708 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 3.708 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.708 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 3.709 * [backup-simplify]: Simplify (+ 0 0) into 0 3.709 * [backup-simplify]: Simplify (+ 0) into 0 3.709 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 3.709 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 3.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.710 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 3.710 * [backup-simplify]: Simplify (- 0) into 0 3.710 * [backup-simplify]: Simplify (+ 0 0) into 0 3.711 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.711 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 3.711 * [backup-simplify]: Simplify (+ 0 0) into 0 3.711 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 3.711 * [taylor]: Taking taylor expansion of 0 in theta 3.711 * [backup-simplify]: Simplify 0 into 0 3.711 * [backup-simplify]: Simplify 0 into 0 3.712 * [backup-simplify]: Simplify (+ 0) into 0 3.712 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 3.712 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.713 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 3.713 * [backup-simplify]: Simplify (- 0) into 0 3.713 * [backup-simplify]: Simplify (+ 0 0) into 0 3.713 * [backup-simplify]: Simplify (+ 0) into 0 3.714 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.714 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.714 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.715 * [backup-simplify]: Simplify (+ 0 0) into 0 3.715 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (cos (/ -1 delta)))) into 0 3.715 * [backup-simplify]: Simplify (+ 0) into 0 3.716 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 3.716 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.717 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 3.718 * [backup-simplify]: Simplify (+ 0 0) into 0 3.718 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.718 * [backup-simplify]: Simplify (+ 0) into 0 3.719 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 3.719 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.719 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.720 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 3.720 * [backup-simplify]: Simplify (- 0) into 0 3.721 * [backup-simplify]: Simplify (+ 0 0) into 0 3.721 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 3.721 * [backup-simplify]: Simplify (+ 0 0) into 0 3.722 * [backup-simplify]: Simplify (+ 0) into 0 3.722 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 3.722 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.723 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 3.724 * [backup-simplify]: Simplify (+ 0 0) into 0 3.724 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 3.724 * [backup-simplify]: Simplify 0 into 0 3.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.726 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.727 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.733 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.734 * [backup-simplify]: Simplify (+ 0 0) into 0 3.735 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 3.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.736 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.737 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.738 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.738 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.739 * [backup-simplify]: Simplify (- 0) into 0 3.739 * [backup-simplify]: Simplify (+ 0 0) into 0 3.740 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 3.741 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.741 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.742 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.743 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.743 * [backup-simplify]: Simplify (- 0) into 0 3.744 * [backup-simplify]: Simplify (+ 0 0) into 0 3.744 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 3.745 * [backup-simplify]: Simplify (+ 0 0) into 0 3.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.746 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.747 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.747 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.748 * [backup-simplify]: Simplify (+ 0 0) into 0 3.748 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 3.748 * [taylor]: Taking taylor expansion of 0 in phi1 3.748 * [backup-simplify]: Simplify 0 into 0 3.748 * [taylor]: Taking taylor expansion of 0 in theta 3.748 * [backup-simplify]: Simplify 0 into 0 3.748 * [backup-simplify]: Simplify 0 into 0 3.748 * [taylor]: Taking taylor expansion of 0 in theta 3.748 * [backup-simplify]: Simplify 0 into 0 3.748 * [backup-simplify]: Simplify 0 into 0 3.749 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.749 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.749 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.750 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.750 * [backup-simplify]: Simplify (- 0) into 0 3.751 * [backup-simplify]: Simplify (+ 0 0) into 0 3.751 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 3.752 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.752 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.752 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.753 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.753 * [backup-simplify]: Simplify (+ 0 0) into 0 3.754 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.754 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.754 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.755 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.755 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.755 * [backup-simplify]: Simplify (- 0) into 0 3.755 * [backup-simplify]: Simplify (+ 0 0) into 0 3.756 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 3.756 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 3.756 * [backup-simplify]: Simplify (+ 0 0) into 0 3.757 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (+ (* (sin (/ -1 phi1)) (cos (/ -1 delta))) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))))) into 0 3.757 * [taylor]: Taking taylor expansion of 0 in theta 3.757 * [backup-simplify]: Simplify 0 into 0 3.757 * [backup-simplify]: Simplify 0 into 0 3.758 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (+ (* (sin (/ -1 (/ 1 (- phi1)))) (cos (/ -1 (/ 1 (- delta))))) (* (cos (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))))) into (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) 3.758 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 2 2 1 1) 3.758 * [backup-simplify]: Simplify (* (sin delta) (* (cos phi1) (cos theta))) into (* (sin delta) (* (cos phi1) (cos theta))) 3.758 * [approximate]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in (delta phi1 theta) around 0 3.758 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in theta 3.758 * [taylor]: Taking taylor expansion of (sin delta) in theta 3.758 * [taylor]: Taking taylor expansion of delta in theta 3.758 * [backup-simplify]: Simplify delta into delta 3.758 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.758 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.758 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in theta 3.758 * [taylor]: Taking taylor expansion of (cos phi1) in theta 3.758 * [taylor]: Taking taylor expansion of phi1 in theta 3.758 * [backup-simplify]: Simplify phi1 into phi1 3.758 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.758 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.758 * [taylor]: Taking taylor expansion of (cos theta) in theta 3.758 * [taylor]: Taking taylor expansion of theta in theta 3.758 * [backup-simplify]: Simplify 0 into 0 3.758 * [backup-simplify]: Simplify 1 into 1 3.758 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in phi1 3.758 * [taylor]: Taking taylor expansion of (sin delta) in phi1 3.758 * [taylor]: Taking taylor expansion of delta in phi1 3.758 * [backup-simplify]: Simplify delta into delta 3.758 * [backup-simplify]: Simplify (sin delta) into (sin delta) 3.758 * [backup-simplify]: Simplify (cos delta) into (cos delta) 3.758 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 3.758 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 3.758 * [taylor]: Taking taylor expansion of phi1 in phi1 3.758 * [backup-simplify]: Simplify 0 into 0 3.758 * [backup-simplify]: Simplify 1 into 1 3.758 * [taylor]: Taking taylor expansion of (cos theta) in phi1 3.758 * [taylor]: Taking taylor expansion of theta in phi1 3.758 * [backup-simplify]: Simplify theta into theta 3.758 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.758 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.759 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 3.759 * [taylor]: Taking taylor expansion of (sin delta) in delta 3.759 * [taylor]: Taking taylor expansion of delta in delta 3.759 * [backup-simplify]: Simplify 0 into 0 3.759 * [backup-simplify]: Simplify 1 into 1 3.759 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 3.759 * [taylor]: Taking taylor expansion of (cos phi1) in delta 3.759 * [taylor]: Taking taylor expansion of phi1 in delta 3.759 * [backup-simplify]: Simplify phi1 into phi1 3.759 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.759 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.759 * [taylor]: Taking taylor expansion of (cos theta) in delta 3.759 * [taylor]: Taking taylor expansion of theta in delta 3.759 * [backup-simplify]: Simplify theta into theta 3.759 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.759 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.759 * [taylor]: Taking taylor expansion of (* (sin delta) (* (cos phi1) (cos theta))) in delta 3.759 * [taylor]: Taking taylor expansion of (sin delta) in delta 3.759 * [taylor]: Taking taylor expansion of delta in delta 3.759 * [backup-simplify]: Simplify 0 into 0 3.759 * [backup-simplify]: Simplify 1 into 1 3.759 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in delta 3.759 * [taylor]: Taking taylor expansion of (cos phi1) in delta 3.759 * [taylor]: Taking taylor expansion of phi1 in delta 3.759 * [backup-simplify]: Simplify phi1 into phi1 3.759 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 3.759 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 3.759 * [taylor]: Taking taylor expansion of (cos theta) in delta 3.759 * [taylor]: Taking taylor expansion of theta in delta 3.759 * [backup-simplify]: Simplify theta into theta 3.759 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.759 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.759 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 3.759 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 3.760 * [backup-simplify]: Simplify (- 0) into 0 3.760 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 3.760 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 3.760 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 3.760 * [backup-simplify]: Simplify (- 0) into 0 3.760 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 3.760 * [backup-simplify]: Simplify (* (cos phi1) (cos theta)) into (* (cos phi1) (cos theta)) 3.760 * [backup-simplify]: Simplify (* 0 (* (cos phi1) (cos theta))) into 0 3.760 * [taylor]: Taking taylor expansion of 0 in phi1 3.760 * [backup-simplify]: Simplify 0 into 0 3.760 * [taylor]: Taking taylor expansion of 0 in theta 3.760 * [backup-simplify]: Simplify 0 into 0 3.760 * [backup-simplify]: Simplify 0 into 0 3.761 * [backup-simplify]: Simplify (+ 0) into 0 3.761 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 3.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.762 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 3.762 * [backup-simplify]: Simplify (- 0) into 0 3.762 * [backup-simplify]: Simplify (+ 0 0) into 0 3.762 * [backup-simplify]: Simplify (+ 0) into 0 3.763 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 3.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.763 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 3.764 * [backup-simplify]: Simplify (- 0) into 0 3.764 * [backup-simplify]: Simplify (+ 0 0) into 0 3.764 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 (cos theta))) into 0 3.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 3.765 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos phi1) (cos theta)))) into (* (cos phi1) (cos theta)) 3.765 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 3.765 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 3.765 * [taylor]: Taking taylor expansion of phi1 in phi1 3.765 * [backup-simplify]: Simplify 0 into 0 3.765 * [backup-simplify]: Simplify 1 into 1 3.765 * [taylor]: Taking taylor expansion of (cos theta) in phi1 3.765 * [taylor]: Taking taylor expansion of theta in phi1 3.765 * [backup-simplify]: Simplify theta into theta 3.765 * [backup-simplify]: Simplify (cos theta) into (cos theta) 3.765 * [backup-simplify]: Simplify (sin theta) into (sin theta) 3.765 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 3.765 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 3.765 * [backup-simplify]: Simplify (- 0) into 0 3.765 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 3.765 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 3.765 * [taylor]: Taking taylor expansion of (cos theta) in theta 3.765 * [taylor]: Taking taylor expansion of theta in theta 3.765 * [backup-simplify]: Simplify 0 into 0 3.765 * [backup-simplify]: Simplify 1 into 1 3.765 * [backup-simplify]: Simplify 1 into 1 3.765 * [taylor]: Taking taylor expansion of 0 in theta 3.765 * [backup-simplify]: Simplify 0 into 0 3.765 * [backup-simplify]: Simplify 0 into 0 3.765 * [backup-simplify]: Simplify 0 into 0 3.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.767 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 3.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.767 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 3.768 * [backup-simplify]: Simplify (- 0) into 0 3.768 * [backup-simplify]: Simplify (+ 0 0) into 0 3.768 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.769 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 3.769 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.770 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 3.770 * [backup-simplify]: Simplify (- 0) into 0 3.770 * [backup-simplify]: Simplify (+ 0 0) into 0 3.770 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 (cos theta)))) into 0 3.771 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.771 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (cos phi1) (cos theta))))) into 0 3.772 * [taylor]: Taking taylor expansion of 0 in phi1 3.772 * [backup-simplify]: Simplify 0 into 0 3.772 * [taylor]: Taking taylor expansion of 0 in theta 3.772 * [backup-simplify]: Simplify 0 into 0 3.772 * [backup-simplify]: Simplify 0 into 0 3.772 * [backup-simplify]: Simplify (+ 0) into 0 3.772 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 3.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.773 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 3.773 * [backup-simplify]: Simplify (- 0) into 0 3.773 * [backup-simplify]: Simplify (+ 0 0) into 0 3.774 * [backup-simplify]: Simplify (+ 0) into 0 3.774 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 3.774 * [taylor]: Taking taylor expansion of 0 in theta 3.774 * [backup-simplify]: Simplify 0 into 0 3.774 * [backup-simplify]: Simplify 0 into 0 3.774 * [taylor]: Taking taylor expansion of 0 in theta 3.774 * [backup-simplify]: Simplify 0 into 0 3.774 * [backup-simplify]: Simplify 0 into 0 3.774 * [backup-simplify]: Simplify (+ 0) into 0 3.774 * [backup-simplify]: Simplify 0 into 0 3.774 * [backup-simplify]: Simplify (* 1 (* 1 (* 1 delta))) into delta 3.774 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.775 * [approximate]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in (delta phi1 theta) around 0 3.775 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 3.775 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 3.775 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.775 * [taylor]: Taking taylor expansion of delta in theta 3.775 * [backup-simplify]: Simplify delta into delta 3.775 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.775 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.775 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.775 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 3.775 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 3.775 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 3.775 * [taylor]: Taking taylor expansion of theta in theta 3.775 * [backup-simplify]: Simplify 0 into 0 3.775 * [backup-simplify]: Simplify 1 into 1 3.775 * [backup-simplify]: Simplify (/ 1 1) into 1 3.775 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.775 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 3.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.775 * [taylor]: Taking taylor expansion of phi1 in theta 3.775 * [backup-simplify]: Simplify phi1 into phi1 3.775 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.775 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.775 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.775 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 3.775 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 3.775 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.775 * [taylor]: Taking taylor expansion of delta in phi1 3.775 * [backup-simplify]: Simplify delta into delta 3.775 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.775 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.776 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.776 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 3.776 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 3.776 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 3.776 * [taylor]: Taking taylor expansion of theta in phi1 3.776 * [backup-simplify]: Simplify theta into theta 3.776 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.776 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.776 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.776 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 3.776 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.776 * [taylor]: Taking taylor expansion of phi1 in phi1 3.776 * [backup-simplify]: Simplify 0 into 0 3.776 * [backup-simplify]: Simplify 1 into 1 3.776 * [backup-simplify]: Simplify (/ 1 1) into 1 3.776 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.776 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 3.776 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 3.776 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.776 * [taylor]: Taking taylor expansion of delta in delta 3.776 * [backup-simplify]: Simplify 0 into 0 3.776 * [backup-simplify]: Simplify 1 into 1 3.776 * [backup-simplify]: Simplify (/ 1 1) into 1 3.777 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.777 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 3.777 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 3.777 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 3.777 * [taylor]: Taking taylor expansion of theta in delta 3.777 * [backup-simplify]: Simplify theta into theta 3.777 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.777 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.777 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.777 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 3.777 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.777 * [taylor]: Taking taylor expansion of phi1 in delta 3.777 * [backup-simplify]: Simplify phi1 into phi1 3.777 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.777 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.777 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.777 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in delta 3.777 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 3.777 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 3.777 * [taylor]: Taking taylor expansion of delta in delta 3.777 * [backup-simplify]: Simplify 0 into 0 3.777 * [backup-simplify]: Simplify 1 into 1 3.777 * [backup-simplify]: Simplify (/ 1 1) into 1 3.777 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.777 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in delta 3.777 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 3.777 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 3.777 * [taylor]: Taking taylor expansion of theta in delta 3.777 * [backup-simplify]: Simplify theta into theta 3.777 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.778 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.778 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.778 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 3.778 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 3.778 * [taylor]: Taking taylor expansion of phi1 in delta 3.778 * [backup-simplify]: Simplify phi1 into phi1 3.778 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.778 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.778 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.778 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 3.778 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 3.778 * [backup-simplify]: Simplify (- 0) into 0 3.778 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 3.778 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 3.778 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 3.779 * [backup-simplify]: Simplify (- 0) into 0 3.779 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 3.779 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 3.779 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.779 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in phi1 3.779 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 3.779 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 3.779 * [taylor]: Taking taylor expansion of delta in phi1 3.779 * [backup-simplify]: Simplify delta into delta 3.779 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.779 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.779 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.779 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in phi1 3.779 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 3.779 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 3.779 * [taylor]: Taking taylor expansion of theta in phi1 3.779 * [backup-simplify]: Simplify theta into theta 3.779 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 3.779 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.779 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 3.779 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 3.779 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 3.779 * [taylor]: Taking taylor expansion of phi1 in phi1 3.779 * [backup-simplify]: Simplify 0 into 0 3.779 * [backup-simplify]: Simplify 1 into 1 3.780 * [backup-simplify]: Simplify (/ 1 1) into 1 3.780 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.780 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 3.780 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 3.780 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 3.780 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 3.780 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 3.780 * [backup-simplify]: Simplify (- 0) into 0 3.780 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 3.780 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 3.781 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.781 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) in theta 3.781 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 3.781 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 3.781 * [taylor]: Taking taylor expansion of delta in theta 3.781 * [backup-simplify]: Simplify delta into delta 3.781 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 3.781 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 3.781 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 3.781 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (cos (/ 1 phi1))) in theta 3.781 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 3.781 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 3.781 * [taylor]: Taking taylor expansion of theta in theta 3.781 * [backup-simplify]: Simplify 0 into 0 3.781 * [backup-simplify]: Simplify 1 into 1 3.781 * [backup-simplify]: Simplify (/ 1 1) into 1 3.781 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 3.781 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 3.781 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 3.781 * [taylor]: Taking taylor expansion of phi1 in theta 3.781 * [backup-simplify]: Simplify phi1 into phi1 3.781 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 3.781 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 3.781 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 3.781 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 3.782 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 3.782 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 3.782 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 3.782 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 3.782 * [backup-simplify]: Simplify (- 0) into 0 3.782 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 3.782 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (cos (/ 1 phi1))) into (* (cos (/ 1 theta)) (cos (/ 1 phi1))) 3.782 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.782 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (cos (/ 1 phi1)))) 3.783 * [backup-simplify]: Simplify (+ 0) into 0 3.783 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 3.783 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.784 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 3.784 * [backup-simplify]: Simplify (- 0) into 0 3.784 * [backup-simplify]: Simplify (+ 0 0) into 0 3.785 * [backup-simplify]: Simplify (+ 0) into 0 3.785 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 3.785 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 3.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.786 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 3.786 * [backup-simplify]: Simplify (- 0) into 0 3.786 * [backup-simplify]: Simplify (+ 0 0) into 0 3.786 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 3.786 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 3.786 * [taylor]: Taking taylor expansion of 0 in phi1 3.786 * [backup-simplify]: Simplify 0 into 0 3.786 * [taylor]: Taking taylor expansion of 0 in theta 3.786 * [backup-simplify]: Simplify 0 into 0 3.786 * [backup-simplify]: Simplify 0 into 0 3.787 * [backup-simplify]: Simplify (+ 0) into 0 3.787 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 3.787 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 3.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.788 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 3.788 * [backup-simplify]: Simplify (- 0) into 0 3.788 * [backup-simplify]: Simplify (+ 0 0) into 0 3.788 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 3.789 * [backup-simplify]: Simplify (+ 0) into 0 3.789 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 3.789 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.790 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 3.790 * [backup-simplify]: Simplify (+ 0 0) into 0 3.790 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 3.790 * [taylor]: Taking taylor expansion of 0 in theta 3.790 * [backup-simplify]: Simplify 0 into 0 3.790 * [backup-simplify]: Simplify 0 into 0 3.791 * [backup-simplify]: Simplify (+ 0) into 0 3.791 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 3.791 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 3.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.792 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 3.792 * [backup-simplify]: Simplify (- 0) into 0 3.793 * [backup-simplify]: Simplify (+ 0 0) into 0 3.793 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (cos (/ 1 phi1)))) into 0 3.793 * [backup-simplify]: Simplify (+ 0) into 0 3.793 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 3.793 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 3.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.794 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 3.794 * [backup-simplify]: Simplify (+ 0 0) into 0 3.794 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1))))) into 0 3.794 * [backup-simplify]: Simplify 0 into 0 3.795 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.795 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.796 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.796 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.796 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.796 * [backup-simplify]: Simplify (- 0) into 0 3.797 * [backup-simplify]: Simplify (+ 0 0) into 0 3.797 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.798 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.798 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.798 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.799 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.799 * [backup-simplify]: Simplify (- 0) into 0 3.799 * [backup-simplify]: Simplify (+ 0 0) into 0 3.800 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 3.800 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 3.800 * [taylor]: Taking taylor expansion of 0 in phi1 3.800 * [backup-simplify]: Simplify 0 into 0 3.800 * [taylor]: Taking taylor expansion of 0 in theta 3.800 * [backup-simplify]: Simplify 0 into 0 3.800 * [backup-simplify]: Simplify 0 into 0 3.800 * [taylor]: Taking taylor expansion of 0 in theta 3.800 * [backup-simplify]: Simplify 0 into 0 3.800 * [backup-simplify]: Simplify 0 into 0 3.801 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.801 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.801 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.802 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.802 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.802 * [backup-simplify]: Simplify (- 0) into 0 3.802 * [backup-simplify]: Simplify (+ 0 0) into 0 3.803 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (cos (/ 1 phi1))))) into 0 3.803 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.804 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.804 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.804 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.805 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.805 * [backup-simplify]: Simplify (+ 0 0) into 0 3.805 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (cos (/ 1 phi1)))))) into 0 3.805 * [taylor]: Taking taylor expansion of 0 in theta 3.805 * [backup-simplify]: Simplify 0 into 0 3.805 * [backup-simplify]: Simplify 0 into 0 3.805 * [backup-simplify]: Simplify (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (cos (/ 1 (/ 1 phi1))))) into (* (sin delta) (* (cos phi1) (cos theta))) 3.806 * [backup-simplify]: Simplify (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta))))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.806 * [approximate]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in (delta phi1 theta) around 0 3.806 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 3.806 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 3.806 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.806 * [taylor]: Taking taylor expansion of -1 in theta 3.806 * [backup-simplify]: Simplify -1 into -1 3.806 * [taylor]: Taking taylor expansion of phi1 in theta 3.806 * [backup-simplify]: Simplify phi1 into phi1 3.806 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.806 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.806 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.806 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 3.806 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 3.806 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 3.806 * [taylor]: Taking taylor expansion of -1 in theta 3.806 * [backup-simplify]: Simplify -1 into -1 3.806 * [taylor]: Taking taylor expansion of theta in theta 3.806 * [backup-simplify]: Simplify 0 into 0 3.806 * [backup-simplify]: Simplify 1 into 1 3.806 * [backup-simplify]: Simplify (/ -1 1) into -1 3.806 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.806 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 3.806 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.806 * [taylor]: Taking taylor expansion of -1 in theta 3.806 * [backup-simplify]: Simplify -1 into -1 3.806 * [taylor]: Taking taylor expansion of delta in theta 3.806 * [backup-simplify]: Simplify delta into delta 3.806 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.807 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.807 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.807 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 3.807 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 3.807 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.807 * [taylor]: Taking taylor expansion of -1 in phi1 3.807 * [backup-simplify]: Simplify -1 into -1 3.807 * [taylor]: Taking taylor expansion of phi1 in phi1 3.807 * [backup-simplify]: Simplify 0 into 0 3.807 * [backup-simplify]: Simplify 1 into 1 3.807 * [backup-simplify]: Simplify (/ -1 1) into -1 3.807 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.807 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 3.807 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 3.807 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 3.807 * [taylor]: Taking taylor expansion of -1 in phi1 3.807 * [backup-simplify]: Simplify -1 into -1 3.807 * [taylor]: Taking taylor expansion of theta in phi1 3.808 * [backup-simplify]: Simplify theta into theta 3.808 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.808 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.808 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.808 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 3.808 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.808 * [taylor]: Taking taylor expansion of -1 in phi1 3.808 * [backup-simplify]: Simplify -1 into -1 3.808 * [taylor]: Taking taylor expansion of delta in phi1 3.808 * [backup-simplify]: Simplify delta into delta 3.808 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.808 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.808 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.808 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 3.808 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 3.808 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.808 * [taylor]: Taking taylor expansion of -1 in delta 3.808 * [backup-simplify]: Simplify -1 into -1 3.808 * [taylor]: Taking taylor expansion of phi1 in delta 3.808 * [backup-simplify]: Simplify phi1 into phi1 3.808 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.808 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.808 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.809 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 3.809 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 3.809 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 3.809 * [taylor]: Taking taylor expansion of -1 in delta 3.809 * [backup-simplify]: Simplify -1 into -1 3.809 * [taylor]: Taking taylor expansion of theta in delta 3.809 * [backup-simplify]: Simplify theta into theta 3.809 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.809 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.809 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.809 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 3.809 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.809 * [taylor]: Taking taylor expansion of -1 in delta 3.809 * [backup-simplify]: Simplify -1 into -1 3.809 * [taylor]: Taking taylor expansion of delta in delta 3.809 * [backup-simplify]: Simplify 0 into 0 3.809 * [backup-simplify]: Simplify 1 into 1 3.809 * [backup-simplify]: Simplify (/ -1 1) into -1 3.810 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.810 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in delta 3.810 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 3.810 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 3.810 * [taylor]: Taking taylor expansion of -1 in delta 3.810 * [backup-simplify]: Simplify -1 into -1 3.810 * [taylor]: Taking taylor expansion of phi1 in delta 3.810 * [backup-simplify]: Simplify phi1 into phi1 3.810 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.810 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.810 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.810 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in delta 3.810 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 3.810 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 3.810 * [taylor]: Taking taylor expansion of -1 in delta 3.810 * [backup-simplify]: Simplify -1 into -1 3.810 * [taylor]: Taking taylor expansion of theta in delta 3.810 * [backup-simplify]: Simplify theta into theta 3.810 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.810 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.810 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.810 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 3.810 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 3.810 * [taylor]: Taking taylor expansion of -1 in delta 3.810 * [backup-simplify]: Simplify -1 into -1 3.810 * [taylor]: Taking taylor expansion of delta in delta 3.811 * [backup-simplify]: Simplify 0 into 0 3.811 * [backup-simplify]: Simplify 1 into 1 3.811 * [backup-simplify]: Simplify (/ -1 1) into -1 3.811 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.811 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 3.811 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 3.812 * [backup-simplify]: Simplify (- 0) into 0 3.812 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 3.812 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 3.812 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 3.812 * [backup-simplify]: Simplify (- 0) into 0 3.812 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 3.813 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 3.813 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.813 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in phi1 3.813 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 3.813 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 3.813 * [taylor]: Taking taylor expansion of -1 in phi1 3.813 * [backup-simplify]: Simplify -1 into -1 3.813 * [taylor]: Taking taylor expansion of phi1 in phi1 3.813 * [backup-simplify]: Simplify 0 into 0 3.813 * [backup-simplify]: Simplify 1 into 1 3.813 * [backup-simplify]: Simplify (/ -1 1) into -1 3.814 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.814 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in phi1 3.814 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 3.814 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 3.814 * [taylor]: Taking taylor expansion of -1 in phi1 3.814 * [backup-simplify]: Simplify -1 into -1 3.814 * [taylor]: Taking taylor expansion of theta in phi1 3.814 * [backup-simplify]: Simplify theta into theta 3.814 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 3.814 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.814 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 3.814 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 3.814 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 3.814 * [taylor]: Taking taylor expansion of -1 in phi1 3.814 * [backup-simplify]: Simplify -1 into -1 3.814 * [taylor]: Taking taylor expansion of delta in phi1 3.814 * [backup-simplify]: Simplify delta into delta 3.814 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.814 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.814 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.814 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 3.815 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 3.815 * [backup-simplify]: Simplify (- 0) into 0 3.815 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 3.815 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 3.815 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 3.815 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 3.816 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 3.816 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.816 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) in theta 3.816 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 3.816 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 3.816 * [taylor]: Taking taylor expansion of -1 in theta 3.816 * [backup-simplify]: Simplify -1 into -1 3.816 * [taylor]: Taking taylor expansion of phi1 in theta 3.816 * [backup-simplify]: Simplify phi1 into phi1 3.816 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 3.816 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 3.816 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 3.816 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (sin (/ -1 delta))) in theta 3.816 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 3.816 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 3.816 * [taylor]: Taking taylor expansion of -1 in theta 3.816 * [backup-simplify]: Simplify -1 into -1 3.816 * [taylor]: Taking taylor expansion of theta in theta 3.816 * [backup-simplify]: Simplify 0 into 0 3.816 * [backup-simplify]: Simplify 1 into 1 3.817 * [backup-simplify]: Simplify (/ -1 1) into -1 3.817 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 3.817 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 3.817 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 3.817 * [taylor]: Taking taylor expansion of -1 in theta 3.817 * [backup-simplify]: Simplify -1 into -1 3.817 * [taylor]: Taking taylor expansion of delta in theta 3.817 * [backup-simplify]: Simplify delta into delta 3.817 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 3.817 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 3.817 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 3.817 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 3.817 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 3.818 * [backup-simplify]: Simplify (- 0) into 0 3.818 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 3.818 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 3.818 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 3.818 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 3.818 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (sin (/ -1 delta))) into (* (cos (/ -1 theta)) (sin (/ -1 delta))) 3.819 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.819 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 3.819 * [backup-simplify]: Simplify (+ 0) into 0 3.820 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 3.820 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 3.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.821 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 3.822 * [backup-simplify]: Simplify (- 0) into 0 3.822 * [backup-simplify]: Simplify (+ 0 0) into 0 3.822 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.822 * [backup-simplify]: Simplify (+ 0) into 0 3.823 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 3.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.824 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 3.825 * [backup-simplify]: Simplify (- 0) into 0 3.825 * [backup-simplify]: Simplify (+ 0 0) into 0 3.825 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 3.825 * [taylor]: Taking taylor expansion of 0 in phi1 3.825 * [backup-simplify]: Simplify 0 into 0 3.825 * [taylor]: Taking taylor expansion of 0 in theta 3.825 * [backup-simplify]: Simplify 0 into 0 3.825 * [backup-simplify]: Simplify 0 into 0 3.826 * [backup-simplify]: Simplify (+ 0) into 0 3.826 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 3.827 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.827 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.828 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 3.828 * [backup-simplify]: Simplify (+ 0 0) into 0 3.829 * [backup-simplify]: Simplify (+ 0) into 0 3.829 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 3.829 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 3.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.830 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 3.831 * [backup-simplify]: Simplify (- 0) into 0 3.831 * [backup-simplify]: Simplify (+ 0 0) into 0 3.831 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.832 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 3.832 * [taylor]: Taking taylor expansion of 0 in theta 3.832 * [backup-simplify]: Simplify 0 into 0 3.832 * [backup-simplify]: Simplify 0 into 0 3.832 * [backup-simplify]: Simplify (+ 0) into 0 3.832 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 3.833 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 3.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.834 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 3.834 * [backup-simplify]: Simplify (+ 0 0) into 0 3.834 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (sin (/ -1 delta)))) into 0 3.835 * [backup-simplify]: Simplify (+ 0) into 0 3.835 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 3.835 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 3.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 3.837 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 3.837 * [backup-simplify]: Simplify (- 0) into 0 3.837 * [backup-simplify]: Simplify (+ 0 0) into 0 3.838 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into 0 3.838 * [backup-simplify]: Simplify 0 into 0 3.839 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.839 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.839 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.841 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.841 * [backup-simplify]: Simplify (- 0) into 0 3.842 * [backup-simplify]: Simplify (+ 0 0) into 0 3.842 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 3.843 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.844 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 3.844 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 3.845 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.845 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 3.845 * [backup-simplify]: Simplify (- 0) into 0 3.846 * [backup-simplify]: Simplify (+ 0 0) into 0 3.846 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 3.846 * [taylor]: Taking taylor expansion of 0 in phi1 3.847 * [backup-simplify]: Simplify 0 into 0 3.847 * [taylor]: Taking taylor expansion of 0 in theta 3.847 * [backup-simplify]: Simplify 0 into 0 3.847 * [backup-simplify]: Simplify 0 into 0 3.847 * [taylor]: Taking taylor expansion of 0 in theta 3.847 * [backup-simplify]: Simplify 0 into 0 3.847 * [backup-simplify]: Simplify 0 into 0 3.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.849 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.849 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 3.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.850 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.851 * [backup-simplify]: Simplify (+ 0 0) into 0 3.855 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 3.856 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 3.856 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 3.857 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 3.857 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 3.857 * [backup-simplify]: Simplify (- 0) into 0 3.858 * [backup-simplify]: Simplify (+ 0 0) into 0 3.858 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 3.858 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 3.859 * [taylor]: Taking taylor expansion of 0 in theta 3.859 * [backup-simplify]: Simplify 0 into 0 3.859 * [backup-simplify]: Simplify 0 into 0 3.859 * [backup-simplify]: Simplify (* (cos (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))) into (* (sin delta) (* (cos phi1) (cos theta))) 3.859 * * * * [progress]: [ 4 / 4 ] generating series at (2 2) 3.859 * [backup-simplify]: Simplify (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) 3.859 * [approximate]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in (theta delta phi1) around 0 3.859 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in phi1 3.860 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.860 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in delta 3.860 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.860 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in theta 3.861 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.861 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) in theta 3.861 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.861 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in delta 3.862 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.862 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in phi1 3.862 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.863 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.863 * [taylor]: Taking taylor expansion of 0 in delta 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [taylor]: Taking taylor expansion of 0 in phi1 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [taylor]: Taking taylor expansion of 0 in phi1 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [taylor]: Taking taylor expansion of 0 in delta 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [taylor]: Taking taylor expansion of 0 in phi1 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [taylor]: Taking taylor expansion of 0 in phi1 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [taylor]: Taking taylor expansion of 0 in phi1 3.863 * [backup-simplify]: Simplify 0 into 0 3.863 * [backup-simplify]: Simplify 0 into 0 3.864 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.864 * [backup-simplify]: Simplify (atan2 (* (* (sin (/ 1 theta)) (sin (/ 1 delta))) (cos (/ 1 phi1))) (- (cos (/ 1 delta)) (* (+ (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (cos (/ 1 theta)))) (* (sin (/ 1 phi1)) (cos (/ 1 delta)))) (sin (/ 1 phi1))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.864 * [approximate]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in (theta delta phi1) around 0 3.864 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 3.865 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.865 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 3.865 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.865 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 3.866 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.866 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 3.867 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.867 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 3.867 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.867 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 3.868 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.868 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 3.869 * [taylor]: Taking taylor expansion of 0 in delta 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [taylor]: Taking taylor expansion of 0 in phi1 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [taylor]: Taking taylor expansion of 0 in phi1 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [taylor]: Taking taylor expansion of 0 in delta 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [taylor]: Taking taylor expansion of 0 in phi1 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [taylor]: Taking taylor expansion of 0 in phi1 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [taylor]: Taking taylor expansion of 0 in phi1 3.869 * [backup-simplify]: Simplify 0 into 0 3.869 * [backup-simplify]: Simplify 0 into 0 3.870 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 theta))))) (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) 3.870 * [backup-simplify]: Simplify (atan2 (* (* (sin (/ 1 (- theta))) (sin (/ 1 (- delta)))) (cos (/ 1 (- phi1)))) (- (cos (/ 1 (- delta))) (* (+ (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (cos (/ 1 (- theta))))) (* (sin (/ 1 (- phi1))) (cos (/ 1 (- delta))))) (sin (/ 1 (- phi1)))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.870 * [approximate]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in (theta delta phi1) around 0 3.870 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 3.871 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.871 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 3.871 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.871 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 3.872 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.872 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 3.873 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.873 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 3.873 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.873 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 3.874 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.874 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 3.874 * [taylor]: Taking taylor expansion of 0 in delta 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [taylor]: Taking taylor expansion of 0 in phi1 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [taylor]: Taking taylor expansion of 0 in phi1 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [taylor]: Taking taylor expansion of 0 in delta 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [taylor]: Taking taylor expansion of 0 in phi1 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [taylor]: Taking taylor expansion of 0 in phi1 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [taylor]: Taking taylor expansion of 0 in phi1 3.875 * [backup-simplify]: Simplify 0 into 0 3.875 * [backup-simplify]: Simplify 0 into 0 3.876 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))) (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta)))))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.876 * * * [progress]: simplifying candidates 3.877 * [simplify]: Simplifying: (/ (exp (cos delta)) (exp (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (log (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (exp (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (* (cbrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (cbrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (cbrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (* (* (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (sqrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (sqrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (- (pow (cos delta) 3) (pow (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) 3)) (+ (* (cos delta) (cos delta)) (+ (* (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (- (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (- (* (cos delta) (cos delta)) (* (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (+ (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (- (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (+ (log (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (log (sin phi1))) (log (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (exp (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (* (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (* (* (sin phi1) (sin phi1)) (sin phi1))) (* (cbrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (cbrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (cbrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (* (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (sqrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (sqrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (sqrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sqrt (sin phi1))) (* (sqrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sqrt (sin phi1))) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (* (cbrt (sin phi1)) (cbrt (sin phi1)))) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sqrt (sin phi1))) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) 1) (* (cbrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sin phi1)) (* (sqrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sin phi1)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (* (+ (* (* (sin delta) (+ (cos (+ phi1 theta)) (cos (- phi1 theta)))) 2) (* 2 (+ (sin (- phi1 delta)) (sin (+ phi1 delta))))) (sin phi1)) (* (+ (pow (* (sin delta) (* (cos phi1) (cos theta))) 3) (pow (* (sin phi1) (cos delta)) 3)) (sin phi1)) (* (- (* (* (sin delta) (* (cos phi1) (cos theta))) (* (sin delta) (* (cos phi1) (cos theta)))) (* (* (sin phi1) (cos delta)) (* (sin phi1) (cos delta)))) (sin phi1)) (* (sin delta) (* (cos phi1) (cos theta))) (* (sin delta) (* (cos phi1) (cos theta))) (+ (log (sin delta)) (+ (log (cos phi1)) (log (cos theta)))) (+ (log (sin delta)) (log (* (cos phi1) (cos theta)))) (log (* (sin delta) (* (cos phi1) (cos theta)))) (exp (* (sin delta) (* (cos phi1) (cos theta)))) (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (cos theta) (cos theta)) (cos theta)))) (* (* (* (sin delta) (sin delta)) (sin delta)) (* (* (* (cos phi1) (cos theta)) (* (cos phi1) (cos theta))) (* (cos phi1) (cos theta)))) (* (cbrt (* (sin delta) (* (cos phi1) (cos theta)))) (cbrt (* (sin delta) (* (cos phi1) (cos theta))))) (cbrt (* (sin delta) (* (cos phi1) (cos theta)))) (* (* (* (sin delta) (* (cos phi1) (cos theta))) (* (sin delta) (* (cos phi1) (cos theta)))) (* (sin delta) (* (cos phi1) (cos theta)))) (sqrt (* (sin delta) (* (cos phi1) (cos theta)))) (sqrt (* (sin delta) (* (cos phi1) (cos theta)))) (* (sin delta) (cos phi1)) (* (cbrt (sin delta)) (* (cos phi1) (cos theta))) (* (sqrt (sin delta)) (* (cos phi1) (cos theta))) (* (sin delta) (* (cos phi1) (cos theta))) (* (sin delta) (+ (cos (+ phi1 theta)) (cos (- phi1 theta)))) (log (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (exp (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (* (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (* (* (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (- 1 (+ (* 1/2 (pow delta 2)) (* delta phi1))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (+ (pow phi1 2) (* delta phi1)) (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (* (sin phi1) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) delta (* (sin delta) (* (cos phi1) (cos theta))) (* (sin delta) (* (cos phi1) (cos theta))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 3.879 * * [simplify]: Extracting # 0 : cost 0 3.879 * * [simplify]: Extracting # 1 : cost 0 3.880 * * [simplify]: Extracting # 2 : cost 0 3.880 * * [simplify]: Extracting # 3 : cost 0 3.880 * * [simplify]: Extracting # 4 : cost 0 3.880 * * [simplify]: Extracting # 5 : cost 0 3.880 * * [simplify]: Extracting # 6 : cost 0 3.880 * * [simplify]: Extracting # 7 : cost 0 3.881 * * [simplify]: Extracting # 8 : cost 0 3.881 * * [simplify]: Extracting # 9 : cost 0 3.881 * * [simplify]: Extracting # 10 : cost 0 3.881 * * [simplify]: iteration 0 : 150 enodes (cost 1641 ) 3.925 * * [simplify]: Extracting # 0 : cost 0 3.925 * * [simplify]: Extracting # 1 : cost 0 3.925 * * [simplify]: Extracting # 2 : cost 0 3.926 * * [simplify]: Extracting # 3 : cost 0 3.926 * * [simplify]: Extracting # 4 : cost 0 3.927 * * [simplify]: iteration 1 : 378 enodes (cost 1563 ) 4.104 * * [simplify]: Extracting # 0 : cost 0 4.107 * * [simplify]: Extracting # 1 : cost 0 4.111 * * [simplify]: Extracting # 2 : cost 0 4.115 * * [simplify]: Extracting # 3 : cost 0 4.119 * * [simplify]: Extracting # 4 : cost 0 4.123 * * [simplify]: iteration 2 : 1634 enodes (cost 1396 ) 5.044 * * [simplify]: Extracting # 0 : cost 0 5.074 * * [simplify]: Extracting # 1 : cost 0 5.081 * * [simplify]: Extracting # 2 : cost 0 5.088 * * [simplify]: Extracting # 3 : cost 0 5.094 * * [simplify]: Extracting # 4 : cost 0 5.107 * * [simplify]: iteration done: 5002 enodes (cost 1396 ) 5.108 * [simplify]: Simplified to: (exp (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (log (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (exp (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (* (cbrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (cbrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (cbrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (pow (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) 3) (sqrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (sqrt (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (- (pow (cos delta) 3) (pow (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) 3)) (+ (* (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (+ (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (* (cos delta) (cos delta))) (- (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (- (* (cos delta) (cos delta)) (* (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (pow (sin phi1) 2))) (+ (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (- (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (log (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (log (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (exp (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (pow (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) 3) (* (cbrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (cbrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) (cbrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (pow (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) 3) (sqrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (sqrt (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))) (* (sqrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sqrt (sin phi1))) (* (sqrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sqrt (sin phi1))) (* (* (cbrt (sin phi1)) (cbrt (sin phi1))) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (* (sqrt (sin phi1)) (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))) (* (cbrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sin phi1)) (* (sqrt (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta)))) (sin phi1)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (* (* 2 (+ (* (sin delta) (+ (cos (+ phi1 theta)) (cos (- phi1 theta)))) (+ (sin (- phi1 delta)) (sin (+ phi1 delta))))) (sin phi1)) (* (+ (pow (* (sin delta) (* (cos phi1) (cos theta))) 3) (pow (* (sin phi1) (cos delta)) 3)) (sin phi1)) (* (sin phi1) (- (* (* (sin delta) (* (cos phi1) (cos theta))) (* (sin delta) (* (cos phi1) (cos theta)))) (* (pow (sin phi1) 2) (* (cos delta) (cos delta))))) (* (cos phi1) (* (cos theta) (sin delta))) (* (cos phi1) (* (cos theta) (sin delta))) (log (* (sin delta) (* (cos phi1) (cos theta)))) (log (* (sin delta) (* (cos phi1) (cos theta)))) (log (* (sin delta) (* (cos phi1) (cos theta)))) (exp (* (sin delta) (* (cos phi1) (cos theta)))) (pow (* (sin delta) (* (cos phi1) (cos theta))) 3) (pow (* (sin delta) (* (cos phi1) (cos theta))) 3) (* (cbrt (* (sin delta) (* (cos phi1) (cos theta)))) (cbrt (* (sin delta) (* (cos phi1) (cos theta))))) (cbrt (* (sin delta) (* (cos phi1) (cos theta)))) (pow (* (sin delta) (* (cos phi1) (cos theta))) 3) (sqrt (* (sin delta) (* (cos phi1) (cos theta)))) (sqrt (* (sin delta) (* (cos phi1) (cos theta)))) (* (sin delta) (cos phi1)) (* (cbrt (sin delta)) (* (cos phi1) (cos theta))) (* (sqrt (sin delta)) (* (cos phi1) (cos theta))) (* (cos phi1) (* (cos theta) (sin delta))) (* (sin delta) (+ (cos (+ phi1 theta)) (cos (- phi1 theta)))) (log (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (exp (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (* (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))))) (cbrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (pow (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)))) 3) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (sqrt (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1))))) (- 1 (+ (* 1/2 (pow delta 2)) (* delta phi1))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (* phi1 (+ phi1 delta)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) (* (+ (* (sin delta) (* (cos phi1) (cos theta))) (* (sin phi1) (cos delta))) (sin phi1)) delta (* (cos phi1) (* (cos theta) (sin delta))) (* (cos phi1) (* (cos theta) (sin delta))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 5.109 * * * [progress]: adding candidates to table 5.625 * * [progress]: iteration 3 / 4 5.625 * * * [progress]: picking best candidate 5.693 * * * * [pick]: Picked # 5.693 * * * [progress]: localizing error 5.739 * * * [progress]: generating rewritten candidates 5.739 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2) 5.785 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 2 2 1 1) 5.793 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 2 2) 5.902 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2) 5.906 * * * [progress]: generating series expansions 5.907 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2) 5.907 * [backup-simplify]: Simplify (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) 5.908 * [approximate]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) in (delta phi1 theta) around 0 5.908 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) in theta 5.908 * [taylor]: Taking taylor expansion of (cos delta) in theta 5.908 * [taylor]: Taking taylor expansion of delta in theta 5.908 * [backup-simplify]: Simplify delta into delta 5.908 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.908 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.908 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) in theta 5.908 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in theta 5.908 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in theta 5.908 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.908 * [taylor]: Taking taylor expansion of phi1 in theta 5.908 * [backup-simplify]: Simplify phi1 into phi1 5.908 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.908 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.908 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.908 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.908 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.908 * [taylor]: Taking taylor expansion of (cos delta) in theta 5.908 * [taylor]: Taking taylor expansion of delta in theta 5.908 * [backup-simplify]: Simplify delta into delta 5.909 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.909 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.909 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in theta 5.909 * [taylor]: Taking taylor expansion of (sin phi1) in theta 5.909 * [taylor]: Taking taylor expansion of phi1 in theta 5.909 * [backup-simplify]: Simplify phi1 into phi1 5.909 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.909 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.909 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in theta 5.909 * [taylor]: Taking taylor expansion of (cos phi1) in theta 5.909 * [taylor]: Taking taylor expansion of phi1 in theta 5.909 * [backup-simplify]: Simplify phi1 into phi1 5.909 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.909 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.909 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 5.909 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.909 * [taylor]: Taking taylor expansion of theta in theta 5.909 * [backup-simplify]: Simplify 0 into 0 5.909 * [backup-simplify]: Simplify 1 into 1 5.909 * [taylor]: Taking taylor expansion of (sin delta) in theta 5.909 * [taylor]: Taking taylor expansion of delta in theta 5.909 * [backup-simplify]: Simplify delta into delta 5.909 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.909 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.909 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) in phi1 5.909 * [taylor]: Taking taylor expansion of (cos delta) in phi1 5.910 * [taylor]: Taking taylor expansion of delta in phi1 5.910 * [backup-simplify]: Simplify delta into delta 5.910 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.910 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.910 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) in phi1 5.910 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in phi1 5.910 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.910 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.910 * [taylor]: Taking taylor expansion of phi1 in phi1 5.910 * [backup-simplify]: Simplify 0 into 0 5.910 * [backup-simplify]: Simplify 1 into 1 5.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.911 * [taylor]: Taking taylor expansion of (cos delta) in phi1 5.911 * [taylor]: Taking taylor expansion of delta in phi1 5.911 * [backup-simplify]: Simplify delta into delta 5.911 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.911 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.911 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 5.911 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.911 * [taylor]: Taking taylor expansion of phi1 in phi1 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify 1 into 1 5.912 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 5.912 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.912 * [taylor]: Taking taylor expansion of phi1 in phi1 5.912 * [backup-simplify]: Simplify 0 into 0 5.912 * [backup-simplify]: Simplify 1 into 1 5.912 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 5.912 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.912 * [taylor]: Taking taylor expansion of theta in phi1 5.912 * [backup-simplify]: Simplify theta into theta 5.912 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.912 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.912 * [taylor]: Taking taylor expansion of (sin delta) in phi1 5.912 * [taylor]: Taking taylor expansion of delta in phi1 5.912 * [backup-simplify]: Simplify delta into delta 5.912 * [backup-simplify]: Simplify (sin delta) into (sin delta) 5.912 * [backup-simplify]: Simplify (cos delta) into (cos delta) 5.912 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) in delta 5.912 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.912 * [taylor]: Taking taylor expansion of delta in delta 5.912 * [backup-simplify]: Simplify 0 into 0 5.912 * [backup-simplify]: Simplify 1 into 1 5.912 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) in delta 5.912 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 5.912 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 5.912 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.912 * [taylor]: Taking taylor expansion of phi1 in delta 5.912 * [backup-simplify]: Simplify phi1 into phi1 5.913 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.913 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.913 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.913 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.913 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.913 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.913 * [taylor]: Taking taylor expansion of delta in delta 5.913 * [backup-simplify]: Simplify 0 into 0 5.913 * [backup-simplify]: Simplify 1 into 1 5.913 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 5.913 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.913 * [taylor]: Taking taylor expansion of phi1 in delta 5.913 * [backup-simplify]: Simplify phi1 into phi1 5.913 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.913 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.913 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 5.913 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.913 * [taylor]: Taking taylor expansion of phi1 in delta 5.913 * [backup-simplify]: Simplify phi1 into phi1 5.913 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.913 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.913 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 5.913 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.914 * [taylor]: Taking taylor expansion of theta in delta 5.914 * [backup-simplify]: Simplify theta into theta 5.914 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.914 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.914 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.914 * [taylor]: Taking taylor expansion of delta in delta 5.914 * [backup-simplify]: Simplify 0 into 0 5.914 * [backup-simplify]: Simplify 1 into 1 5.914 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) in delta 5.914 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.914 * [taylor]: Taking taylor expansion of delta in delta 5.914 * [backup-simplify]: Simplify 0 into 0 5.914 * [backup-simplify]: Simplify 1 into 1 5.914 * [taylor]: Taking taylor expansion of (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) in delta 5.914 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 5.914 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 5.914 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.914 * [taylor]: Taking taylor expansion of phi1 in delta 5.914 * [backup-simplify]: Simplify phi1 into phi1 5.914 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.914 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.914 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.915 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.915 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.915 * [taylor]: Taking taylor expansion of (cos delta) in delta 5.915 * [taylor]: Taking taylor expansion of delta in delta 5.915 * [backup-simplify]: Simplify 0 into 0 5.915 * [backup-simplify]: Simplify 1 into 1 5.915 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 5.915 * [taylor]: Taking taylor expansion of (sin phi1) in delta 5.915 * [taylor]: Taking taylor expansion of phi1 in delta 5.915 * [backup-simplify]: Simplify phi1 into phi1 5.915 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.915 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.915 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 5.915 * [taylor]: Taking taylor expansion of (cos phi1) in delta 5.915 * [taylor]: Taking taylor expansion of phi1 in delta 5.915 * [backup-simplify]: Simplify phi1 into phi1 5.915 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 5.915 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 5.915 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 5.915 * [taylor]: Taking taylor expansion of (cos theta) in delta 5.915 * [taylor]: Taking taylor expansion of theta in delta 5.915 * [backup-simplify]: Simplify theta into theta 5.915 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.916 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.916 * [taylor]: Taking taylor expansion of (sin delta) in delta 5.916 * [taylor]: Taking taylor expansion of delta in delta 5.916 * [backup-simplify]: Simplify 0 into 0 5.916 * [backup-simplify]: Simplify 1 into 1 5.916 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 5.916 * [backup-simplify]: Simplify (* (pow (sin phi1) 2) 1) into (pow (sin phi1) 2) 5.916 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 5.916 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.916 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 5.916 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 5.916 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 5.917 * [backup-simplify]: Simplify (- 0) into 0 5.917 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 5.917 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.917 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.918 * [backup-simplify]: Simplify (- 0) into 0 5.918 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.918 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 5.918 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 5.918 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 5.918 * [backup-simplify]: Simplify (+ (pow (sin phi1) 2) 0) into (pow (sin phi1) 2) 5.919 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 5.919 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 5.919 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 5.919 * [taylor]: Taking taylor expansion of 1 in phi1 5.919 * [backup-simplify]: Simplify 1 into 1 5.919 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.919 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.919 * [taylor]: Taking taylor expansion of phi1 in phi1 5.919 * [backup-simplify]: Simplify 0 into 0 5.919 * [backup-simplify]: Simplify 1 into 1 5.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.920 * [backup-simplify]: Simplify (+ 1 0) into 1 5.920 * [taylor]: Taking taylor expansion of 1 in theta 5.921 * [backup-simplify]: Simplify 1 into 1 5.921 * [backup-simplify]: Simplify 1 into 1 5.921 * [backup-simplify]: Simplify (+ 0) into 0 5.921 * [backup-simplify]: Simplify (+ 0) into 0 5.922 * [backup-simplify]: Simplify (+ 0) into 0 5.922 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.924 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.924 * [backup-simplify]: Simplify (+ 0 0) into 0 5.924 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (sin phi1))) into 0 5.925 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) 0) (* 0 1)) into 0 5.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.926 * [backup-simplify]: Simplify (+ 0) into 0 5.927 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.928 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.928 * [backup-simplify]: Simplify (- 0) into 0 5.929 * [backup-simplify]: Simplify (+ 0 0) into 0 5.929 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 5.930 * [backup-simplify]: Simplify (+ 0) into 0 5.930 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 5.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.931 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 5.932 * [backup-simplify]: Simplify (- 0) into 0 5.932 * [backup-simplify]: Simplify (+ 0 0) into 0 5.933 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) (* 0 0)) into (* (cos phi1) (cos theta)) 5.933 * [backup-simplify]: Simplify (+ 0) into 0 5.934 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 5.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.935 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 5.935 * [backup-simplify]: Simplify (+ 0 0) into 0 5.936 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 0)) into (* (sin phi1) (* (cos phi1) (cos theta))) 5.936 * [backup-simplify]: Simplify (+ 0 (* (sin phi1) (* (cos phi1) (cos theta)))) into (* (sin phi1) (* (cos phi1) (cos theta))) 5.936 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 5.937 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 5.937 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 5.937 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 5.937 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.937 * [taylor]: Taking taylor expansion of phi1 in phi1 5.937 * [backup-simplify]: Simplify 0 into 0 5.937 * [backup-simplify]: Simplify 1 into 1 5.937 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 5.937 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 5.937 * [taylor]: Taking taylor expansion of phi1 in phi1 5.937 * [backup-simplify]: Simplify 0 into 0 5.937 * [backup-simplify]: Simplify 1 into 1 5.937 * [taylor]: Taking taylor expansion of (cos theta) in phi1 5.937 * [taylor]: Taking taylor expansion of theta in phi1 5.937 * [backup-simplify]: Simplify theta into theta 5.937 * [backup-simplify]: Simplify (cos theta) into (cos theta) 5.937 * [backup-simplify]: Simplify (sin theta) into (sin theta) 5.937 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 5.937 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 5.938 * [backup-simplify]: Simplify (- 0) into 0 5.938 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 5.938 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 5.938 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 5.938 * [backup-simplify]: Simplify (- 0) into 0 5.938 * [taylor]: Taking taylor expansion of 0 in theta 5.938 * [backup-simplify]: Simplify 0 into 0 5.938 * [backup-simplify]: Simplify 0 into 0 5.939 * [backup-simplify]: Simplify (+ 0 0) into 0 5.939 * [taylor]: Taking taylor expansion of 0 in theta 5.939 * [backup-simplify]: Simplify 0 into 0 5.939 * [backup-simplify]: Simplify 0 into 0 5.939 * [backup-simplify]: Simplify 0 into 0 5.940 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 5.941 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 5.942 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.943 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.943 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.944 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.944 * [backup-simplify]: Simplify (+ 0 0) into 0 5.945 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (sin phi1)))) into 0 5.946 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (pow (sin phi1) 2))) 5.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.952 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.953 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 5.953 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.954 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 5.954 * [backup-simplify]: Simplify (- 0) into 0 5.955 * [backup-simplify]: Simplify (+ 0 0) into 0 5.955 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 1) (* 0 0))) into 0 5.956 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.957 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.958 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.958 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.959 * [backup-simplify]: Simplify (- 0) into 0 5.959 * [backup-simplify]: Simplify (+ 0 0) into 0 5.960 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 (cos theta)) (* 0 0))) into 0 5.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.961 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 5.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.963 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 5.963 * [backup-simplify]: Simplify (+ 0 0) into 0 5.963 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 0))) into 0 5.964 * [backup-simplify]: Simplify (+ (- (* 1/2 (pow (sin phi1) 2))) 0) into (- (* 1/2 (pow (sin phi1) 2))) 5.964 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 5.964 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 5.964 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 5.964 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 5.964 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.964 * [backup-simplify]: Simplify 1/2 into 1/2 5.964 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 5.964 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 5.964 * [taylor]: Taking taylor expansion of phi1 in phi1 5.964 * [backup-simplify]: Simplify 0 into 0 5.964 * [backup-simplify]: Simplify 1 into 1 5.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.965 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.965 * [backup-simplify]: Simplify 1/2 into 1/2 5.966 * [backup-simplify]: Simplify (- 1/2) into -1/2 5.966 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 5.966 * [taylor]: Taking taylor expansion of -1/2 in theta 5.966 * [backup-simplify]: Simplify -1/2 into -1/2 5.966 * [backup-simplify]: Simplify -1/2 into -1/2 5.967 * [backup-simplify]: Simplify (+ 0) into 0 5.967 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 5.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.968 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 5.969 * [backup-simplify]: Simplify (- 0) into 0 5.969 * [backup-simplify]: Simplify (+ 0 0) into 0 5.969 * [backup-simplify]: Simplify (+ 0) into 0 5.970 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 5.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 5.971 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 5.971 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 5.971 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 5.972 * [taylor]: Taking taylor expansion of (cos theta) in theta 5.972 * [taylor]: Taking taylor expansion of theta in theta 5.972 * [backup-simplify]: Simplify 0 into 0 5.972 * [backup-simplify]: Simplify 1 into 1 5.972 * [backup-simplify]: Simplify (- 1) into -1 5.972 * [backup-simplify]: Simplify -1 into -1 5.973 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* phi1 delta))) (+ (* -1/2 (pow (* 1 (* 1 delta)) 2)) 1)) into (- 1 (+ (* 1/2 (pow delta 2)) (* delta phi1))) 5.973 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 5.974 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in (delta phi1 theta) around 0 5.974 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 5.974 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.974 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.974 * [taylor]: Taking taylor expansion of delta in theta 5.974 * [backup-simplify]: Simplify delta into delta 5.974 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.974 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.974 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.974 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 5.974 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 5.974 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 5.974 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.974 * [taylor]: Taking taylor expansion of delta in theta 5.974 * [backup-simplify]: Simplify delta into delta 5.974 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.974 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.974 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.974 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 5.974 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 5.975 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 5.975 * [taylor]: Taking taylor expansion of theta in theta 5.975 * [backup-simplify]: Simplify 0 into 0 5.975 * [backup-simplify]: Simplify 1 into 1 5.975 * [backup-simplify]: Simplify (/ 1 1) into 1 5.975 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.975 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 5.975 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 5.975 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.975 * [taylor]: Taking taylor expansion of phi1 in theta 5.975 * [backup-simplify]: Simplify phi1 into phi1 5.976 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.976 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.976 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.976 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.976 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.976 * [taylor]: Taking taylor expansion of phi1 in theta 5.976 * [backup-simplify]: Simplify phi1 into phi1 5.976 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.976 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.976 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.976 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 5.976 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 5.976 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 5.976 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 5.976 * [taylor]: Taking taylor expansion of phi1 in theta 5.976 * [backup-simplify]: Simplify phi1 into phi1 5.976 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.976 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.976 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.977 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.977 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.977 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.977 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 5.977 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 5.977 * [taylor]: Taking taylor expansion of delta in theta 5.977 * [backup-simplify]: Simplify delta into delta 5.977 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.977 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.977 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.977 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in phi1 5.977 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.977 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.977 * [taylor]: Taking taylor expansion of delta in phi1 5.977 * [backup-simplify]: Simplify delta into delta 5.977 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.978 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.978 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.978 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 5.978 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 5.978 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 5.978 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.978 * [taylor]: Taking taylor expansion of delta in phi1 5.978 * [backup-simplify]: Simplify delta into delta 5.978 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.978 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.978 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.978 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 5.978 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 5.978 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 5.978 * [taylor]: Taking taylor expansion of theta in phi1 5.978 * [backup-simplify]: Simplify theta into theta 5.978 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.979 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.979 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.979 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 5.979 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 5.979 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.979 * [taylor]: Taking taylor expansion of phi1 in phi1 5.979 * [backup-simplify]: Simplify 0 into 0 5.979 * [backup-simplify]: Simplify 1 into 1 5.979 * [backup-simplify]: Simplify (/ 1 1) into 1 5.980 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.980 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.980 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.980 * [taylor]: Taking taylor expansion of phi1 in phi1 5.980 * [backup-simplify]: Simplify 0 into 0 5.980 * [backup-simplify]: Simplify 1 into 1 5.980 * [backup-simplify]: Simplify (/ 1 1) into 1 5.980 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.980 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 5.980 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 5.980 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.980 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.980 * [taylor]: Taking taylor expansion of phi1 in phi1 5.980 * [backup-simplify]: Simplify 0 into 0 5.980 * [backup-simplify]: Simplify 1 into 1 5.981 * [backup-simplify]: Simplify (/ 1 1) into 1 5.981 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.981 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.981 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.981 * [taylor]: Taking taylor expansion of delta in phi1 5.981 * [backup-simplify]: Simplify delta into delta 5.981 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.981 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.981 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.981 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in delta 5.981 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.981 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.981 * [taylor]: Taking taylor expansion of delta in delta 5.981 * [backup-simplify]: Simplify 0 into 0 5.981 * [backup-simplify]: Simplify 1 into 1 5.982 * [backup-simplify]: Simplify (/ 1 1) into 1 5.982 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.982 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 5.982 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 5.982 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 5.982 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.982 * [taylor]: Taking taylor expansion of delta in delta 5.982 * [backup-simplify]: Simplify 0 into 0 5.982 * [backup-simplify]: Simplify 1 into 1 5.983 * [backup-simplify]: Simplify (/ 1 1) into 1 5.983 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.983 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 5.983 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 5.983 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 5.983 * [taylor]: Taking taylor expansion of theta in delta 5.983 * [backup-simplify]: Simplify theta into theta 5.983 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.983 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.983 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.983 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 5.983 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 5.983 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.983 * [taylor]: Taking taylor expansion of phi1 in delta 5.983 * [backup-simplify]: Simplify phi1 into phi1 5.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.984 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.984 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.984 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.984 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.984 * [taylor]: Taking taylor expansion of phi1 in delta 5.984 * [backup-simplify]: Simplify phi1 into phi1 5.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.984 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.984 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.984 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 5.984 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 5.984 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.984 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.984 * [taylor]: Taking taylor expansion of phi1 in delta 5.984 * [backup-simplify]: Simplify phi1 into phi1 5.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.984 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.984 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.985 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.985 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.985 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.985 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.985 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.985 * [taylor]: Taking taylor expansion of delta in delta 5.985 * [backup-simplify]: Simplify 0 into 0 5.985 * [backup-simplify]: Simplify 1 into 1 5.985 * [backup-simplify]: Simplify (/ 1 1) into 1 5.985 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.986 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in delta 5.986 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.986 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.986 * [taylor]: Taking taylor expansion of delta in delta 5.986 * [backup-simplify]: Simplify 0 into 0 5.986 * [backup-simplify]: Simplify 1 into 1 5.986 * [backup-simplify]: Simplify (/ 1 1) into 1 5.986 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.986 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 5.986 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 5.986 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 5.986 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.986 * [taylor]: Taking taylor expansion of delta in delta 5.986 * [backup-simplify]: Simplify 0 into 0 5.986 * [backup-simplify]: Simplify 1 into 1 5.987 * [backup-simplify]: Simplify (/ 1 1) into 1 5.987 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.987 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 5.987 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 5.987 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 5.987 * [taylor]: Taking taylor expansion of theta in delta 5.987 * [backup-simplify]: Simplify theta into theta 5.987 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.987 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.987 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.987 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 5.987 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 5.987 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.987 * [taylor]: Taking taylor expansion of phi1 in delta 5.987 * [backup-simplify]: Simplify phi1 into phi1 5.987 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.988 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.988 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.988 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.988 * [taylor]: Taking taylor expansion of phi1 in delta 5.988 * [backup-simplify]: Simplify phi1 into phi1 5.988 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.988 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.988 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.988 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 5.988 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 5.988 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 5.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 5.988 * [taylor]: Taking taylor expansion of phi1 in delta 5.988 * [backup-simplify]: Simplify phi1 into phi1 5.988 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.988 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.988 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.988 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.988 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.989 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.989 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 5.989 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 5.989 * [taylor]: Taking taylor expansion of delta in delta 5.989 * [backup-simplify]: Simplify 0 into 0 5.989 * [backup-simplify]: Simplify 1 into 1 5.989 * [backup-simplify]: Simplify (/ 1 1) into 1 5.989 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.989 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 5.990 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 5.990 * [backup-simplify]: Simplify (- 0) into 0 5.990 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 5.990 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 5.990 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 5.991 * [backup-simplify]: Simplify (- 0) into 0 5.991 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 5.991 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 5.991 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 5.991 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 5.991 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 5.991 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 5.992 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 5.992 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 5.992 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 5.993 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 5.994 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 5.994 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 5.995 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in phi1 5.995 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.995 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.995 * [taylor]: Taking taylor expansion of delta in phi1 5.995 * [backup-simplify]: Simplify delta into delta 5.995 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.995 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.995 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.995 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 5.995 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 5.995 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 5.995 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.995 * [taylor]: Taking taylor expansion of delta in phi1 5.995 * [backup-simplify]: Simplify delta into delta 5.995 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.995 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.995 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.995 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 5.995 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 5.995 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 5.995 * [taylor]: Taking taylor expansion of theta in phi1 5.995 * [backup-simplify]: Simplify theta into theta 5.995 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 5.996 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 5.996 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 5.996 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 5.996 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 5.996 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.996 * [taylor]: Taking taylor expansion of phi1 in phi1 5.996 * [backup-simplify]: Simplify 0 into 0 5.996 * [backup-simplify]: Simplify 1 into 1 5.996 * [backup-simplify]: Simplify (/ 1 1) into 1 5.996 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 5.996 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.996 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.996 * [taylor]: Taking taylor expansion of phi1 in phi1 5.996 * [backup-simplify]: Simplify 0 into 0 5.996 * [backup-simplify]: Simplify 1 into 1 5.997 * [backup-simplify]: Simplify (/ 1 1) into 1 5.997 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.997 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 5.997 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 5.997 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 5.997 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.997 * [taylor]: Taking taylor expansion of phi1 in phi1 5.997 * [backup-simplify]: Simplify 0 into 0 5.997 * [backup-simplify]: Simplify 1 into 1 5.997 * [backup-simplify]: Simplify (/ 1 1) into 1 5.998 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 5.998 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 5.998 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 5.998 * [taylor]: Taking taylor expansion of delta in phi1 5.998 * [backup-simplify]: Simplify delta into delta 5.998 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 5.998 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 5.998 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 5.998 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 5.998 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 5.998 * [backup-simplify]: Simplify (- 0) into 0 5.999 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 5.999 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 5.999 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 5.999 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 5.999 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 5.999 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 5.999 * [backup-simplify]: Simplify (- 0) into 0 5.999 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 6.000 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 6.000 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 6.000 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 6.000 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 6.000 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 6.001 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 6.001 * [backup-simplify]: Simplify (- 0) into 0 6.001 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 6.001 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 6.002 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 6.003 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 6.004 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 6.004 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) in theta 6.004 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 6.004 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.004 * [taylor]: Taking taylor expansion of delta in theta 6.004 * [backup-simplify]: Simplify delta into delta 6.004 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.004 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.004 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.004 * [taylor]: Taking taylor expansion of (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in theta 6.004 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 6.004 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 6.004 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.004 * [taylor]: Taking taylor expansion of delta in theta 6.004 * [backup-simplify]: Simplify delta into delta 6.004 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.004 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.004 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.004 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 6.004 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 6.004 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 6.005 * [taylor]: Taking taylor expansion of theta in theta 6.005 * [backup-simplify]: Simplify 0 into 0 6.005 * [backup-simplify]: Simplify 1 into 1 6.005 * [backup-simplify]: Simplify (/ 1 1) into 1 6.005 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.005 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 6.005 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 6.005 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.005 * [taylor]: Taking taylor expansion of phi1 in theta 6.005 * [backup-simplify]: Simplify phi1 into phi1 6.005 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.005 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.006 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.006 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.006 * [taylor]: Taking taylor expansion of phi1 in theta 6.006 * [backup-simplify]: Simplify phi1 into phi1 6.006 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.006 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.006 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.006 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in theta 6.006 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in theta 6.006 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.006 * [taylor]: Taking taylor expansion of phi1 in theta 6.006 * [backup-simplify]: Simplify phi1 into phi1 6.006 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.006 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.006 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.006 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.006 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.006 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.007 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in theta 6.007 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.007 * [taylor]: Taking taylor expansion of delta in theta 6.007 * [backup-simplify]: Simplify delta into delta 6.007 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.007 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.007 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.007 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 6.007 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 6.007 * [backup-simplify]: Simplify (- 0) into 0 6.008 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 6.008 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 6.008 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 6.008 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 6.008 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 6.008 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 6.008 * [backup-simplify]: Simplify (- 0) into 0 6.008 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 6.009 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.009 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.009 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.009 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 6.009 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 6.009 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 6.010 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 6.010 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 6.010 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 6.010 * [backup-simplify]: Simplify (- 0) into 0 6.010 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 6.011 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 6.012 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 6.013 * [backup-simplify]: Simplify (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 6.014 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 6.014 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) 6.015 * [backup-simplify]: Simplify (+ 0) into 0 6.016 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.016 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.017 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.018 * [backup-simplify]: Simplify (+ 0 0) into 0 6.018 * [backup-simplify]: Simplify (+ 0) into 0 6.018 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 6.019 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.020 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 6.020 * [backup-simplify]: Simplify (- 0) into 0 6.020 * [backup-simplify]: Simplify (+ 0 0) into 0 6.021 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.021 * [backup-simplify]: Simplify (+ 0) into 0 6.021 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 6.021 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 6.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.023 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 6.023 * [backup-simplify]: Simplify (- 0) into 0 6.023 * [backup-simplify]: Simplify (+ 0 0) into 0 6.024 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 6.024 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.024 * [backup-simplify]: Simplify (+ 0) into 0 6.025 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.025 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.026 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.027 * [backup-simplify]: Simplify (+ 0 0) into 0 6.027 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.027 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 6.028 * [backup-simplify]: Simplify (+ 0 0) into 0 6.028 * [backup-simplify]: Simplify (- 0) into 0 6.028 * [backup-simplify]: Simplify (+ 0 0) into 0 6.028 * [taylor]: Taking taylor expansion of 0 in phi1 6.028 * [backup-simplify]: Simplify 0 into 0 6.028 * [taylor]: Taking taylor expansion of 0 in theta 6.028 * [backup-simplify]: Simplify 0 into 0 6.028 * [backup-simplify]: Simplify 0 into 0 6.029 * [backup-simplify]: Simplify (+ 0) into 0 6.029 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 6.029 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.031 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 6.031 * [backup-simplify]: Simplify (- 0) into 0 6.032 * [backup-simplify]: Simplify (+ 0 0) into 0 6.032 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.032 * [backup-simplify]: Simplify (+ 0) into 0 6.033 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 6.033 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 6.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.034 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 6.034 * [backup-simplify]: Simplify (- 0) into 0 6.035 * [backup-simplify]: Simplify (+ 0 0) into 0 6.035 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 6.035 * [backup-simplify]: Simplify (+ 0) into 0 6.036 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 6.036 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.037 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 6.038 * [backup-simplify]: Simplify (+ 0 0) into 0 6.038 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.038 * [backup-simplify]: Simplify (+ 0) into 0 6.039 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 6.039 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.040 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 6.040 * [backup-simplify]: Simplify (- 0) into 0 6.041 * [backup-simplify]: Simplify (+ 0 0) into 0 6.041 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.041 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 6.042 * [backup-simplify]: Simplify (+ 0 0) into 0 6.042 * [backup-simplify]: Simplify (- 0) into 0 6.042 * [backup-simplify]: Simplify (+ 0 0) into 0 6.042 * [taylor]: Taking taylor expansion of 0 in theta 6.042 * [backup-simplify]: Simplify 0 into 0 6.043 * [backup-simplify]: Simplify 0 into 0 6.043 * [backup-simplify]: Simplify (+ 0) into 0 6.043 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 6.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.045 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 6.045 * [backup-simplify]: Simplify (- 0) into 0 6.046 * [backup-simplify]: Simplify (+ 0 0) into 0 6.046 * [backup-simplify]: Simplify (+ 0) into 0 6.046 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.047 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.048 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.048 * [backup-simplify]: Simplify (+ 0 0) into 0 6.049 * [backup-simplify]: Simplify (+ 0) into 0 6.049 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 6.049 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.051 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 6.051 * [backup-simplify]: Simplify (- 0) into 0 6.052 * [backup-simplify]: Simplify (+ 0 0) into 0 6.052 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.052 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 6.052 * [backup-simplify]: Simplify (+ 0) into 0 6.053 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 6.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.054 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 6.055 * [backup-simplify]: Simplify (+ 0 0) into 0 6.055 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.055 * [backup-simplify]: Simplify (+ 0) into 0 6.056 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 6.056 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.057 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 6.058 * [backup-simplify]: Simplify (- 0) into 0 6.058 * [backup-simplify]: Simplify (+ 0 0) into 0 6.058 * [backup-simplify]: Simplify (+ 0) into 0 6.059 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.059 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.060 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.060 * [backup-simplify]: Simplify (+ 0 0) into 0 6.061 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.061 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 6.061 * [backup-simplify]: Simplify (+ 0 0) into 0 6.062 * [backup-simplify]: Simplify (- 0) into 0 6.062 * [backup-simplify]: Simplify (+ 0 0) into 0 6.062 * [backup-simplify]: Simplify 0 into 0 6.063 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.064 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.064 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.065 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.065 * [backup-simplify]: Simplify (+ 0 0) into 0 6.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.067 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.067 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.068 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.069 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.069 * [backup-simplify]: Simplify (- 0) into 0 6.069 * [backup-simplify]: Simplify (+ 0 0) into 0 6.070 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.071 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.071 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.071 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.072 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.072 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.072 * [backup-simplify]: Simplify (- 0) into 0 6.072 * [backup-simplify]: Simplify (+ 0 0) into 0 6.073 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.073 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 6.074 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.074 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.074 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.075 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.075 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.075 * [backup-simplify]: Simplify (+ 0 0) into 0 6.076 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.076 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 6.076 * [backup-simplify]: Simplify (+ 0 0) into 0 6.077 * [backup-simplify]: Simplify (- 0) into 0 6.077 * [backup-simplify]: Simplify (+ 0 0) into 0 6.077 * [taylor]: Taking taylor expansion of 0 in phi1 6.077 * [backup-simplify]: Simplify 0 into 0 6.077 * [taylor]: Taking taylor expansion of 0 in theta 6.077 * [backup-simplify]: Simplify 0 into 0 6.077 * [backup-simplify]: Simplify 0 into 0 6.077 * [taylor]: Taking taylor expansion of 0 in theta 6.077 * [backup-simplify]: Simplify 0 into 0 6.077 * [backup-simplify]: Simplify 0 into 0 6.077 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.078 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.078 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.078 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.079 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.079 * [backup-simplify]: Simplify (- 0) into 0 6.079 * [backup-simplify]: Simplify (+ 0 0) into 0 6.080 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.080 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.081 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.081 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.081 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.082 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.082 * [backup-simplify]: Simplify (- 0) into 0 6.082 * [backup-simplify]: Simplify (+ 0 0) into 0 6.083 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.084 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.084 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.084 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.085 * [backup-simplify]: Simplify (+ 0 0) into 0 6.085 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 6.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.086 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.086 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.087 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.087 * [backup-simplify]: Simplify (- 0) into 0 6.088 * [backup-simplify]: Simplify (+ 0 0) into 0 6.088 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.088 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 6.089 * [backup-simplify]: Simplify (+ 0 0) into 0 6.089 * [backup-simplify]: Simplify (- 0) into 0 6.089 * [backup-simplify]: Simplify (+ 0 0) into 0 6.089 * [taylor]: Taking taylor expansion of 0 in theta 6.089 * [backup-simplify]: Simplify 0 into 0 6.089 * [backup-simplify]: Simplify 0 into 0 6.090 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta)))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))))) 6.090 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (+ (* (pow (sin (/ 1 (- phi1))) 2) (cos (/ 1 (- delta)))) (* (sin (/ 1 (- phi1))) (* (cos (/ 1 (- phi1))) (* (cos (/ 1 (- theta))) (sin (/ 1 (- delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.090 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in (delta phi1 theta) around 0 6.090 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in theta 6.090 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 6.090 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.090 * [taylor]: Taking taylor expansion of -1 in theta 6.090 * [backup-simplify]: Simplify -1 into -1 6.090 * [taylor]: Taking taylor expansion of delta in theta 6.090 * [backup-simplify]: Simplify delta into delta 6.090 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.090 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.091 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.091 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in theta 6.091 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 6.091 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 6.091 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.091 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.091 * [taylor]: Taking taylor expansion of -1 in theta 6.091 * [backup-simplify]: Simplify -1 into -1 6.091 * [taylor]: Taking taylor expansion of phi1 in theta 6.091 * [backup-simplify]: Simplify phi1 into phi1 6.091 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.091 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.091 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.091 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.091 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.091 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.091 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 6.091 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.091 * [taylor]: Taking taylor expansion of -1 in theta 6.091 * [backup-simplify]: Simplify -1 into -1 6.091 * [taylor]: Taking taylor expansion of delta in theta 6.091 * [backup-simplify]: Simplify delta into delta 6.091 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.091 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.091 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.091 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 6.091 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.091 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.091 * [taylor]: Taking taylor expansion of -1 in theta 6.091 * [backup-simplify]: Simplify -1 into -1 6.091 * [taylor]: Taking taylor expansion of phi1 in theta 6.091 * [backup-simplify]: Simplify phi1 into phi1 6.091 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.091 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.091 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.091 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 6.091 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 6.092 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 6.092 * [taylor]: Taking taylor expansion of -1 in theta 6.092 * [backup-simplify]: Simplify -1 into -1 6.092 * [taylor]: Taking taylor expansion of theta in theta 6.092 * [backup-simplify]: Simplify 0 into 0 6.092 * [backup-simplify]: Simplify 1 into 1 6.092 * [backup-simplify]: Simplify (/ -1 1) into -1 6.092 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.092 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 6.092 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 6.092 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.092 * [taylor]: Taking taylor expansion of -1 in theta 6.092 * [backup-simplify]: Simplify -1 into -1 6.092 * [taylor]: Taking taylor expansion of phi1 in theta 6.092 * [backup-simplify]: Simplify phi1 into phi1 6.092 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.092 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.092 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.092 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 6.092 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.092 * [taylor]: Taking taylor expansion of -1 in theta 6.092 * [backup-simplify]: Simplify -1 into -1 6.092 * [taylor]: Taking taylor expansion of delta in theta 6.092 * [backup-simplify]: Simplify delta into delta 6.092 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.092 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.092 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.092 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in phi1 6.092 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 6.092 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.093 * [taylor]: Taking taylor expansion of -1 in phi1 6.093 * [backup-simplify]: Simplify -1 into -1 6.093 * [taylor]: Taking taylor expansion of delta in phi1 6.093 * [backup-simplify]: Simplify delta into delta 6.093 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.093 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.093 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.093 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in phi1 6.093 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 6.093 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 6.093 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.093 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.093 * [taylor]: Taking taylor expansion of -1 in phi1 6.093 * [backup-simplify]: Simplify -1 into -1 6.093 * [taylor]: Taking taylor expansion of phi1 in phi1 6.093 * [backup-simplify]: Simplify 0 into 0 6.093 * [backup-simplify]: Simplify 1 into 1 6.093 * [backup-simplify]: Simplify (/ -1 1) into -1 6.093 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.093 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 6.093 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.093 * [taylor]: Taking taylor expansion of -1 in phi1 6.093 * [backup-simplify]: Simplify -1 into -1 6.093 * [taylor]: Taking taylor expansion of delta in phi1 6.093 * [backup-simplify]: Simplify delta into delta 6.093 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.093 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.093 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.093 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 6.093 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.093 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.093 * [taylor]: Taking taylor expansion of -1 in phi1 6.094 * [backup-simplify]: Simplify -1 into -1 6.094 * [taylor]: Taking taylor expansion of phi1 in phi1 6.094 * [backup-simplify]: Simplify 0 into 0 6.094 * [backup-simplify]: Simplify 1 into 1 6.094 * [backup-simplify]: Simplify (/ -1 1) into -1 6.094 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.094 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 6.094 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 6.094 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 6.094 * [taylor]: Taking taylor expansion of -1 in phi1 6.094 * [backup-simplify]: Simplify -1 into -1 6.094 * [taylor]: Taking taylor expansion of theta in phi1 6.094 * [backup-simplify]: Simplify theta into theta 6.094 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.094 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.094 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.094 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 6.094 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 6.094 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.094 * [taylor]: Taking taylor expansion of -1 in phi1 6.094 * [backup-simplify]: Simplify -1 into -1 6.094 * [taylor]: Taking taylor expansion of phi1 in phi1 6.094 * [backup-simplify]: Simplify 0 into 0 6.094 * [backup-simplify]: Simplify 1 into 1 6.098 * [backup-simplify]: Simplify (/ -1 1) into -1 6.098 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.098 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 6.098 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.098 * [taylor]: Taking taylor expansion of -1 in phi1 6.099 * [backup-simplify]: Simplify -1 into -1 6.099 * [taylor]: Taking taylor expansion of delta in phi1 6.099 * [backup-simplify]: Simplify delta into delta 6.099 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.099 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.099 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.099 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in delta 6.099 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 6.099 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.099 * [taylor]: Taking taylor expansion of -1 in delta 6.099 * [backup-simplify]: Simplify -1 into -1 6.099 * [taylor]: Taking taylor expansion of delta in delta 6.099 * [backup-simplify]: Simplify 0 into 0 6.099 * [backup-simplify]: Simplify 1 into 1 6.100 * [backup-simplify]: Simplify (/ -1 1) into -1 6.100 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.100 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in delta 6.100 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 6.100 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 6.100 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.100 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.100 * [taylor]: Taking taylor expansion of -1 in delta 6.100 * [backup-simplify]: Simplify -1 into -1 6.100 * [taylor]: Taking taylor expansion of phi1 in delta 6.100 * [backup-simplify]: Simplify phi1 into phi1 6.100 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.100 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.100 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.101 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.101 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.101 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.101 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 6.101 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.101 * [taylor]: Taking taylor expansion of -1 in delta 6.101 * [backup-simplify]: Simplify -1 into -1 6.101 * [taylor]: Taking taylor expansion of delta in delta 6.101 * [backup-simplify]: Simplify 0 into 0 6.101 * [backup-simplify]: Simplify 1 into 1 6.102 * [backup-simplify]: Simplify (/ -1 1) into -1 6.102 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.102 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 6.102 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.102 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.102 * [taylor]: Taking taylor expansion of -1 in delta 6.102 * [backup-simplify]: Simplify -1 into -1 6.102 * [taylor]: Taking taylor expansion of phi1 in delta 6.102 * [backup-simplify]: Simplify phi1 into phi1 6.102 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.102 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.102 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.102 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 6.102 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 6.102 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 6.102 * [taylor]: Taking taylor expansion of -1 in delta 6.102 * [backup-simplify]: Simplify -1 into -1 6.102 * [taylor]: Taking taylor expansion of theta in delta 6.102 * [backup-simplify]: Simplify theta into theta 6.102 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.102 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.103 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.103 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 6.103 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 6.103 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.103 * [taylor]: Taking taylor expansion of -1 in delta 6.103 * [backup-simplify]: Simplify -1 into -1 6.103 * [taylor]: Taking taylor expansion of phi1 in delta 6.103 * [backup-simplify]: Simplify phi1 into phi1 6.103 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.103 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.103 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.103 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 6.103 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.103 * [taylor]: Taking taylor expansion of -1 in delta 6.103 * [backup-simplify]: Simplify -1 into -1 6.103 * [taylor]: Taking taylor expansion of delta in delta 6.103 * [backup-simplify]: Simplify 0 into 0 6.103 * [backup-simplify]: Simplify 1 into 1 6.104 * [backup-simplify]: Simplify (/ -1 1) into -1 6.104 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.104 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in delta 6.104 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 6.104 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.104 * [taylor]: Taking taylor expansion of -1 in delta 6.104 * [backup-simplify]: Simplify -1 into -1 6.104 * [taylor]: Taking taylor expansion of delta in delta 6.104 * [backup-simplify]: Simplify 0 into 0 6.104 * [backup-simplify]: Simplify 1 into 1 6.105 * [backup-simplify]: Simplify (/ -1 1) into -1 6.105 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.105 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in delta 6.105 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 6.105 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 6.105 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.105 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.105 * [taylor]: Taking taylor expansion of -1 in delta 6.105 * [backup-simplify]: Simplify -1 into -1 6.105 * [taylor]: Taking taylor expansion of phi1 in delta 6.105 * [backup-simplify]: Simplify phi1 into phi1 6.105 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.105 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.105 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.105 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.105 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.106 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.106 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 6.106 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.106 * [taylor]: Taking taylor expansion of -1 in delta 6.106 * [backup-simplify]: Simplify -1 into -1 6.106 * [taylor]: Taking taylor expansion of delta in delta 6.106 * [backup-simplify]: Simplify 0 into 0 6.106 * [backup-simplify]: Simplify 1 into 1 6.106 * [backup-simplify]: Simplify (/ -1 1) into -1 6.106 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.106 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 6.106 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.106 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.106 * [taylor]: Taking taylor expansion of -1 in delta 6.107 * [backup-simplify]: Simplify -1 into -1 6.107 * [taylor]: Taking taylor expansion of phi1 in delta 6.107 * [backup-simplify]: Simplify phi1 into phi1 6.107 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.107 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.107 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.107 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 6.107 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 6.107 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 6.107 * [taylor]: Taking taylor expansion of -1 in delta 6.107 * [backup-simplify]: Simplify -1 into -1 6.107 * [taylor]: Taking taylor expansion of theta in delta 6.107 * [backup-simplify]: Simplify theta into theta 6.107 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.107 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.107 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.107 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 6.107 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 6.107 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.107 * [taylor]: Taking taylor expansion of -1 in delta 6.107 * [backup-simplify]: Simplify -1 into -1 6.107 * [taylor]: Taking taylor expansion of phi1 in delta 6.107 * [backup-simplify]: Simplify phi1 into phi1 6.108 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.108 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.108 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.108 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 6.108 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.108 * [taylor]: Taking taylor expansion of -1 in delta 6.108 * [backup-simplify]: Simplify -1 into -1 6.108 * [taylor]: Taking taylor expansion of delta in delta 6.108 * [backup-simplify]: Simplify 0 into 0 6.108 * [backup-simplify]: Simplify 1 into 1 6.108 * [backup-simplify]: Simplify (/ -1 1) into -1 6.109 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.109 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 6.109 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 6.109 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.109 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.109 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.110 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 6.110 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 6.110 * [backup-simplify]: Simplify (- 0) into 0 6.110 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 6.110 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 6.110 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 6.111 * [backup-simplify]: Simplify (- 0) into 0 6.111 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 6.111 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 6.111 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.112 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.112 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 6.113 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.114 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.114 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in phi1 6.114 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 6.114 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.114 * [taylor]: Taking taylor expansion of -1 in phi1 6.114 * [backup-simplify]: Simplify -1 into -1 6.114 * [taylor]: Taking taylor expansion of delta in phi1 6.114 * [backup-simplify]: Simplify delta into delta 6.115 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.115 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.115 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.115 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in phi1 6.115 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 6.115 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 6.115 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.115 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.115 * [taylor]: Taking taylor expansion of -1 in phi1 6.115 * [backup-simplify]: Simplify -1 into -1 6.115 * [taylor]: Taking taylor expansion of phi1 in phi1 6.115 * [backup-simplify]: Simplify 0 into 0 6.115 * [backup-simplify]: Simplify 1 into 1 6.116 * [backup-simplify]: Simplify (/ -1 1) into -1 6.116 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.116 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 6.116 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.116 * [taylor]: Taking taylor expansion of -1 in phi1 6.116 * [backup-simplify]: Simplify -1 into -1 6.116 * [taylor]: Taking taylor expansion of delta in phi1 6.116 * [backup-simplify]: Simplify delta into delta 6.116 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.116 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.116 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.116 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 6.116 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.116 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.116 * [taylor]: Taking taylor expansion of -1 in phi1 6.116 * [backup-simplify]: Simplify -1 into -1 6.116 * [taylor]: Taking taylor expansion of phi1 in phi1 6.116 * [backup-simplify]: Simplify 0 into 0 6.116 * [backup-simplify]: Simplify 1 into 1 6.117 * [backup-simplify]: Simplify (/ -1 1) into -1 6.117 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.117 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 6.117 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 6.117 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 6.117 * [taylor]: Taking taylor expansion of -1 in phi1 6.117 * [backup-simplify]: Simplify -1 into -1 6.117 * [taylor]: Taking taylor expansion of theta in phi1 6.117 * [backup-simplify]: Simplify theta into theta 6.117 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.117 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.117 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.117 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 6.118 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 6.118 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.118 * [taylor]: Taking taylor expansion of -1 in phi1 6.118 * [backup-simplify]: Simplify -1 into -1 6.118 * [taylor]: Taking taylor expansion of phi1 in phi1 6.118 * [backup-simplify]: Simplify 0 into 0 6.118 * [backup-simplify]: Simplify 1 into 1 6.118 * [backup-simplify]: Simplify (/ -1 1) into -1 6.118 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.118 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 6.118 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.118 * [taylor]: Taking taylor expansion of -1 in phi1 6.118 * [backup-simplify]: Simplify -1 into -1 6.118 * [taylor]: Taking taylor expansion of delta in phi1 6.118 * [backup-simplify]: Simplify delta into delta 6.118 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.119 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.119 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.119 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 6.119 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 6.119 * [backup-simplify]: Simplify (- 0) into 0 6.119 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 6.120 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 6.120 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 6.120 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 6.120 * [backup-simplify]: Simplify (- 0) into 0 6.120 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 6.121 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 6.121 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 6.121 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 6.121 * [backup-simplify]: Simplify (- 0) into 0 6.121 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 6.121 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 6.122 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 6.122 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 6.122 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 6.122 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.122 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.123 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 6.124 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.125 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.125 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) in theta 6.125 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 6.125 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.125 * [taylor]: Taking taylor expansion of -1 in theta 6.125 * [backup-simplify]: Simplify -1 into -1 6.125 * [taylor]: Taking taylor expansion of delta in theta 6.125 * [backup-simplify]: Simplify delta into delta 6.125 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.126 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.126 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.126 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) in theta 6.126 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in theta 6.126 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in theta 6.126 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.126 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.126 * [taylor]: Taking taylor expansion of -1 in theta 6.126 * [backup-simplify]: Simplify -1 into -1 6.126 * [taylor]: Taking taylor expansion of phi1 in theta 6.126 * [backup-simplify]: Simplify phi1 into phi1 6.126 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.126 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.126 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.126 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.126 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.126 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.127 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in theta 6.127 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.127 * [taylor]: Taking taylor expansion of -1 in theta 6.127 * [backup-simplify]: Simplify -1 into -1 6.127 * [taylor]: Taking taylor expansion of delta in theta 6.127 * [backup-simplify]: Simplify delta into delta 6.127 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.127 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.127 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.127 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 6.127 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.127 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.127 * [taylor]: Taking taylor expansion of -1 in theta 6.127 * [backup-simplify]: Simplify -1 into -1 6.127 * [taylor]: Taking taylor expansion of phi1 in theta 6.127 * [backup-simplify]: Simplify phi1 into phi1 6.127 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.127 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.128 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.128 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 6.128 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 6.128 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 6.128 * [taylor]: Taking taylor expansion of -1 in theta 6.128 * [backup-simplify]: Simplify -1 into -1 6.128 * [taylor]: Taking taylor expansion of theta in theta 6.128 * [backup-simplify]: Simplify 0 into 0 6.128 * [backup-simplify]: Simplify 1 into 1 6.129 * [backup-simplify]: Simplify (/ -1 1) into -1 6.129 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.129 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 6.129 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 6.129 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.129 * [taylor]: Taking taylor expansion of -1 in theta 6.129 * [backup-simplify]: Simplify -1 into -1 6.129 * [taylor]: Taking taylor expansion of phi1 in theta 6.129 * [backup-simplify]: Simplify phi1 into phi1 6.129 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.129 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.129 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.129 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 6.129 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.129 * [taylor]: Taking taylor expansion of -1 in theta 6.129 * [backup-simplify]: Simplify -1 into -1 6.129 * [taylor]: Taking taylor expansion of delta in theta 6.129 * [backup-simplify]: Simplify delta into delta 6.129 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.129 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.130 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.130 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 6.130 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 6.130 * [backup-simplify]: Simplify (- 0) into 0 6.130 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 6.131 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 6.131 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 6.131 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 6.131 * [backup-simplify]: Simplify (- 0) into 0 6.131 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 6.132 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 6.132 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.132 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.132 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.132 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 6.132 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 6.133 * [backup-simplify]: Simplify (- 0) into 0 6.133 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 6.133 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 6.133 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 6.133 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 6.134 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 6.134 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.134 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.135 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) 6.136 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.137 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.138 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) into (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))))) 6.138 * [backup-simplify]: Simplify (+ 0) into 0 6.139 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.139 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.140 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.141 * [backup-simplify]: Simplify (+ 0 0) into 0 6.141 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 6.141 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 6.142 * [backup-simplify]: Simplify (+ 0) into 0 6.142 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 6.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.144 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 6.144 * [backup-simplify]: Simplify (- 0) into 0 6.144 * [backup-simplify]: Simplify (+ 0 0) into 0 6.145 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 6.145 * [backup-simplify]: Simplify (+ 0) into 0 6.146 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 6.146 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 6.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.147 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 6.147 * [backup-simplify]: Simplify (- 0) into 0 6.148 * [backup-simplify]: Simplify (+ 0 0) into 0 6.148 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 6.148 * [backup-simplify]: Simplify (+ 0) into 0 6.149 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.150 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.151 * [backup-simplify]: Simplify (+ 0 0) into 0 6.151 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 6.151 * [backup-simplify]: Simplify (+ 0 0) into 0 6.152 * [backup-simplify]: Simplify (- 0) into 0 6.152 * [backup-simplify]: Simplify (+ 0 0) into 0 6.152 * [taylor]: Taking taylor expansion of 0 in phi1 6.152 * [backup-simplify]: Simplify 0 into 0 6.152 * [taylor]: Taking taylor expansion of 0 in theta 6.152 * [backup-simplify]: Simplify 0 into 0 6.152 * [backup-simplify]: Simplify 0 into 0 6.153 * [backup-simplify]: Simplify (+ 0) into 0 6.153 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 6.154 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.155 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 6.155 * [backup-simplify]: Simplify (- 0) into 0 6.156 * [backup-simplify]: Simplify (+ 0 0) into 0 6.156 * [backup-simplify]: Simplify (+ 0) into 0 6.157 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 6.157 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.158 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 6.159 * [backup-simplify]: Simplify (- 0) into 0 6.159 * [backup-simplify]: Simplify (+ 0 0) into 0 6.159 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 6.160 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 6.160 * [backup-simplify]: Simplify (+ 0) into 0 6.161 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 6.161 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.162 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 6.163 * [backup-simplify]: Simplify (+ 0 0) into 0 6.163 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 6.163 * [backup-simplify]: Simplify (+ 0) into 0 6.164 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 6.164 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 6.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.165 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 6.166 * [backup-simplify]: Simplify (- 0) into 0 6.166 * [backup-simplify]: Simplify (+ 0 0) into 0 6.166 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 6.167 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 6.167 * [backup-simplify]: Simplify (+ 0 0) into 0 6.167 * [backup-simplify]: Simplify (- 0) into 0 6.168 * [backup-simplify]: Simplify (+ 0 0) into 0 6.168 * [taylor]: Taking taylor expansion of 0 in theta 6.168 * [backup-simplify]: Simplify 0 into 0 6.168 * [backup-simplify]: Simplify 0 into 0 6.168 * [backup-simplify]: Simplify (+ 0) into 0 6.169 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 6.169 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.170 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 6.171 * [backup-simplify]: Simplify (- 0) into 0 6.171 * [backup-simplify]: Simplify (+ 0 0) into 0 6.171 * [backup-simplify]: Simplify (+ 0) into 0 6.172 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 6.172 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.173 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 6.174 * [backup-simplify]: Simplify (- 0) into 0 6.174 * [backup-simplify]: Simplify (+ 0 0) into 0 6.174 * [backup-simplify]: Simplify (+ 0) into 0 6.175 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.175 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.176 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.177 * [backup-simplify]: Simplify (+ 0 0) into 0 6.177 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 6.177 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 6.177 * [backup-simplify]: Simplify (+ 0) into 0 6.178 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 6.178 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.179 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 6.180 * [backup-simplify]: Simplify (+ 0 0) into 0 6.180 * [backup-simplify]: Simplify (+ 0) into 0 6.181 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 6.181 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.182 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 6.183 * [backup-simplify]: Simplify (- 0) into 0 6.183 * [backup-simplify]: Simplify (+ 0 0) into 0 6.184 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 6.184 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 6.184 * [backup-simplify]: Simplify (+ 0) into 0 6.185 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.185 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.186 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.187 * [backup-simplify]: Simplify (+ 0 0) into 0 6.187 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 6.187 * [backup-simplify]: Simplify (+ 0 0) into 0 6.188 * [backup-simplify]: Simplify (- 0) into 0 6.188 * [backup-simplify]: Simplify (+ 0 0) into 0 6.188 * [backup-simplify]: Simplify 0 into 0 6.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.190 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.191 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.192 * [backup-simplify]: Simplify (+ 0 0) into 0 6.193 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 6.193 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 6.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.195 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.195 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.196 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.196 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.197 * [backup-simplify]: Simplify (- 0) into 0 6.197 * [backup-simplify]: Simplify (+ 0 0) into 0 6.198 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 6.198 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.199 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.199 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.200 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.201 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.201 * [backup-simplify]: Simplify (- 0) into 0 6.201 * [backup-simplify]: Simplify (+ 0 0) into 0 6.202 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 6.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.203 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.204 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.204 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.205 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.205 * [backup-simplify]: Simplify (+ 0 0) into 0 6.206 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 6.206 * [backup-simplify]: Simplify (+ 0 0) into 0 6.207 * [backup-simplify]: Simplify (- 0) into 0 6.207 * [backup-simplify]: Simplify (+ 0 0) into 0 6.207 * [taylor]: Taking taylor expansion of 0 in phi1 6.207 * [backup-simplify]: Simplify 0 into 0 6.207 * [taylor]: Taking taylor expansion of 0 in theta 6.207 * [backup-simplify]: Simplify 0 into 0 6.207 * [backup-simplify]: Simplify 0 into 0 6.207 * [taylor]: Taking taylor expansion of 0 in theta 6.207 * [backup-simplify]: Simplify 0 into 0 6.207 * [backup-simplify]: Simplify 0 into 0 6.208 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.209 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.210 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.210 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.211 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.211 * [backup-simplify]: Simplify (- 0) into 0 6.212 * [backup-simplify]: Simplify (+ 0 0) into 0 6.213 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.213 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.214 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.214 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.215 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.215 * [backup-simplify]: Simplify (- 0) into 0 6.216 * [backup-simplify]: Simplify (+ 0 0) into 0 6.216 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 6.217 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 6.218 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.219 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.219 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.220 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.220 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.221 * [backup-simplify]: Simplify (+ 0 0) into 0 6.221 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 6.222 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.223 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.223 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.224 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.224 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.225 * [backup-simplify]: Simplify (- 0) into 0 6.225 * [backup-simplify]: Simplify (+ 0 0) into 0 6.226 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 6.226 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 6.227 * [backup-simplify]: Simplify (+ 0 0) into 0 6.227 * [backup-simplify]: Simplify (- 0) into 0 6.227 * [backup-simplify]: Simplify (+ 0 0) into 0 6.227 * [taylor]: Taking taylor expansion of 0 in theta 6.228 * [backup-simplify]: Simplify 0 into 0 6.228 * [backup-simplify]: Simplify 0 into 0 6.229 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))))))) into (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) 6.229 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 2 2 1 1) 6.229 * [backup-simplify]: Simplify (pow (sin phi1) 2) into (pow (sin phi1) 2) 6.229 * [approximate]: Taking taylor expansion of (pow (sin phi1) 2) in (phi1) around 0 6.229 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 6.229 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 6.229 * [taylor]: Taking taylor expansion of phi1 in phi1 6.229 * [backup-simplify]: Simplify 0 into 0 6.229 * [backup-simplify]: Simplify 1 into 1 6.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 6.230 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 6.230 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 6.230 * [taylor]: Taking taylor expansion of phi1 in phi1 6.230 * [backup-simplify]: Simplify 0 into 0 6.230 * [backup-simplify]: Simplify 1 into 1 6.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 6.231 * [backup-simplify]: Simplify (* 1 1) into 1 6.231 * [backup-simplify]: Simplify 1 into 1 6.232 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.233 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.233 * [backup-simplify]: Simplify 0 into 0 6.234 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 6.235 * [backup-simplify]: Simplify (+ (* 1 -1/6) (+ (* 0 0) (* -1/6 1))) into -1/3 6.235 * [backup-simplify]: Simplify -1/3 into -1/3 6.237 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 6.238 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 -1/6) (+ (* -1/6 0) (* 0 1)))) into 0 6.238 * [backup-simplify]: Simplify 0 into 0 6.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 5) 120)) 0 (* -1 (/ (pow 1 2) 2) (/ (pow 0 1) 1)) (* -1 (/ (pow 1 1) 1) (/ (pow 0 2) 2)) 0 0 (* 1 (/ (pow 0 1) 1))) into 1/120 6.244 * [backup-simplify]: Simplify (+ (* 1 1/120) (+ (* 0 0) (+ (* -1/6 -1/6) (+ (* 0 0) (* 1/120 1))))) into 2/45 6.244 * [backup-simplify]: Simplify 2/45 into 2/45 6.245 * [backup-simplify]: Simplify (+ (* 2/45 (pow phi1 6)) (+ (* -1/3 (pow phi1 4)) (* 1 (pow phi1 2)))) into (- (+ (* 2/45 (pow phi1 6)) (pow phi1 2)) (* 1/3 (pow phi1 4))) 6.245 * [backup-simplify]: Simplify (pow (sin (/ 1 phi1)) 2) into (pow (sin (/ 1 phi1)) 2) 6.245 * [approximate]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in (phi1) around 0 6.245 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 6.245 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.245 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.245 * [taylor]: Taking taylor expansion of phi1 in phi1 6.245 * [backup-simplify]: Simplify 0 into 0 6.246 * [backup-simplify]: Simplify 1 into 1 6.246 * [backup-simplify]: Simplify (/ 1 1) into 1 6.246 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.246 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 6.246 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.246 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.246 * [taylor]: Taking taylor expansion of phi1 in phi1 6.246 * [backup-simplify]: Simplify 0 into 0 6.246 * [backup-simplify]: Simplify 1 into 1 6.247 * [backup-simplify]: Simplify (/ 1 1) into 1 6.247 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.247 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 6.247 * [backup-simplify]: Simplify (pow (sin (/ 1 phi1)) 2) into (pow (sin (/ 1 phi1)) 2) 6.248 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.248 * [backup-simplify]: Simplify 0 into 0 6.248 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.248 * [backup-simplify]: Simplify 0 into 0 6.249 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1)))))) into 0 6.249 * [backup-simplify]: Simplify 0 into 0 6.251 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))))) into 0 6.251 * [backup-simplify]: Simplify 0 into 0 6.252 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1)))))))) into 0 6.252 * [backup-simplify]: Simplify 0 into 0 6.254 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))))))) into 0 6.254 * [backup-simplify]: Simplify 0 into 0 6.254 * [backup-simplify]: Simplify (pow (sin (/ 1 (/ 1 phi1))) 2) into (pow (sin phi1) 2) 6.255 * [backup-simplify]: Simplify (pow (sin (/ 1 (- phi1))) 2) into (pow (sin (/ -1 phi1)) 2) 6.255 * [approximate]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in (phi1) around 0 6.255 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 6.255 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.255 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.255 * [taylor]: Taking taylor expansion of -1 in phi1 6.255 * [backup-simplify]: Simplify -1 into -1 6.255 * [taylor]: Taking taylor expansion of phi1 in phi1 6.255 * [backup-simplify]: Simplify 0 into 0 6.255 * [backup-simplify]: Simplify 1 into 1 6.255 * [backup-simplify]: Simplify (/ -1 1) into -1 6.255 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.256 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 6.256 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.256 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.256 * [taylor]: Taking taylor expansion of -1 in phi1 6.256 * [backup-simplify]: Simplify -1 into -1 6.256 * [taylor]: Taking taylor expansion of phi1 in phi1 6.256 * [backup-simplify]: Simplify 0 into 0 6.256 * [backup-simplify]: Simplify 1 into 1 6.256 * [backup-simplify]: Simplify (/ -1 1) into -1 6.256 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.256 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 6.257 * [backup-simplify]: Simplify (pow (sin (/ -1 phi1)) 2) into (pow (sin (/ -1 phi1)) 2) 6.257 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 6.257 * [backup-simplify]: Simplify 0 into 0 6.258 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 6.258 * [backup-simplify]: Simplify 0 into 0 6.258 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1)))))) into 0 6.259 * [backup-simplify]: Simplify 0 into 0 6.260 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))))) into 0 6.260 * [backup-simplify]: Simplify 0 into 0 6.268 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1)))))))) into 0 6.268 * [backup-simplify]: Simplify 0 into 0 6.271 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))))))) into 0 6.271 * [backup-simplify]: Simplify 0 into 0 6.271 * [backup-simplify]: Simplify (pow (sin (/ -1 (/ 1 (- phi1)))) 2) into (pow (sin phi1) 2) 6.271 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 2 2 2) 6.271 * [backup-simplify]: Simplify (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) into (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 6.271 * [approximate]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in (phi1 theta delta) around 0 6.272 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 6.272 * [taylor]: Taking taylor expansion of (sin phi1) in delta 6.272 * [taylor]: Taking taylor expansion of phi1 in delta 6.272 * [backup-simplify]: Simplify phi1 into phi1 6.272 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 6.272 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 6.272 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 6.272 * [taylor]: Taking taylor expansion of (cos phi1) in delta 6.272 * [taylor]: Taking taylor expansion of phi1 in delta 6.272 * [backup-simplify]: Simplify phi1 into phi1 6.272 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 6.272 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 6.272 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 6.272 * [taylor]: Taking taylor expansion of (cos theta) in delta 6.272 * [taylor]: Taking taylor expansion of theta in delta 6.272 * [backup-simplify]: Simplify theta into theta 6.272 * [backup-simplify]: Simplify (cos theta) into (cos theta) 6.272 * [backup-simplify]: Simplify (sin theta) into (sin theta) 6.272 * [taylor]: Taking taylor expansion of (sin delta) in delta 6.272 * [taylor]: Taking taylor expansion of delta in delta 6.272 * [backup-simplify]: Simplify 0 into 0 6.272 * [backup-simplify]: Simplify 1 into 1 6.272 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in theta 6.272 * [taylor]: Taking taylor expansion of (sin phi1) in theta 6.272 * [taylor]: Taking taylor expansion of phi1 in theta 6.272 * [backup-simplify]: Simplify phi1 into phi1 6.272 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 6.272 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 6.273 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in theta 6.273 * [taylor]: Taking taylor expansion of (cos phi1) in theta 6.273 * [taylor]: Taking taylor expansion of phi1 in theta 6.273 * [backup-simplify]: Simplify phi1 into phi1 6.273 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 6.273 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 6.273 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 6.273 * [taylor]: Taking taylor expansion of (cos theta) in theta 6.273 * [taylor]: Taking taylor expansion of theta in theta 6.273 * [backup-simplify]: Simplify 0 into 0 6.273 * [backup-simplify]: Simplify 1 into 1 6.273 * [taylor]: Taking taylor expansion of (sin delta) in theta 6.273 * [taylor]: Taking taylor expansion of delta in theta 6.273 * [backup-simplify]: Simplify delta into delta 6.273 * [backup-simplify]: Simplify (sin delta) into (sin delta) 6.273 * [backup-simplify]: Simplify (cos delta) into (cos delta) 6.273 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 6.273 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 6.273 * [taylor]: Taking taylor expansion of phi1 in phi1 6.273 * [backup-simplify]: Simplify 0 into 0 6.273 * [backup-simplify]: Simplify 1 into 1 6.273 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 6.273 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 6.273 * [taylor]: Taking taylor expansion of phi1 in phi1 6.273 * [backup-simplify]: Simplify 0 into 0 6.273 * [backup-simplify]: Simplify 1 into 1 6.273 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 6.273 * [taylor]: Taking taylor expansion of (cos theta) in phi1 6.273 * [taylor]: Taking taylor expansion of theta in phi1 6.273 * [backup-simplify]: Simplify theta into theta 6.273 * [backup-simplify]: Simplify (cos theta) into (cos theta) 6.274 * [backup-simplify]: Simplify (sin theta) into (sin theta) 6.274 * [taylor]: Taking taylor expansion of (sin delta) in phi1 6.274 * [taylor]: Taking taylor expansion of delta in phi1 6.274 * [backup-simplify]: Simplify delta into delta 6.274 * [backup-simplify]: Simplify (sin delta) into (sin delta) 6.274 * [backup-simplify]: Simplify (cos delta) into (cos delta) 6.274 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 6.274 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 6.274 * [taylor]: Taking taylor expansion of phi1 in phi1 6.274 * [backup-simplify]: Simplify 0 into 0 6.274 * [backup-simplify]: Simplify 1 into 1 6.274 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 6.274 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 6.274 * [taylor]: Taking taylor expansion of phi1 in phi1 6.274 * [backup-simplify]: Simplify 0 into 0 6.274 * [backup-simplify]: Simplify 1 into 1 6.274 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 6.274 * [taylor]: Taking taylor expansion of (cos theta) in phi1 6.274 * [taylor]: Taking taylor expansion of theta in phi1 6.274 * [backup-simplify]: Simplify theta into theta 6.274 * [backup-simplify]: Simplify (cos theta) into (cos theta) 6.275 * [backup-simplify]: Simplify (sin theta) into (sin theta) 6.275 * [taylor]: Taking taylor expansion of (sin delta) in phi1 6.275 * [taylor]: Taking taylor expansion of delta in phi1 6.275 * [backup-simplify]: Simplify delta into delta 6.275 * [backup-simplify]: Simplify (sin delta) into (sin delta) 6.275 * [backup-simplify]: Simplify (cos delta) into (cos delta) 6.275 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 6.275 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 6.276 * [backup-simplify]: Simplify (- 0) into 0 6.276 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 6.276 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 6.276 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 6.276 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 6.276 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (sin delta) (cos theta)) 6.276 * [backup-simplify]: Simplify (* 1 (* (sin delta) (cos theta))) into (* (sin delta) (cos theta)) 6.276 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 6.276 * [taylor]: Taking taylor expansion of 0 in theta 6.276 * [backup-simplify]: Simplify 0 into 0 6.276 * [taylor]: Taking taylor expansion of 0 in delta 6.277 * [backup-simplify]: Simplify 0 into 0 6.277 * [backup-simplify]: Simplify 0 into 0 6.277 * [backup-simplify]: Simplify (+ 0) into 0 6.278 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 6.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.279 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 6.279 * [backup-simplify]: Simplify (+ 0 0) into 0 6.280 * [backup-simplify]: Simplify (+ 0) into 0 6.280 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 6.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.281 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 6.282 * [backup-simplify]: Simplify (- 0) into 0 6.282 * [backup-simplify]: Simplify (+ 0 0) into 0 6.282 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 6.283 * [backup-simplify]: Simplify (+ 0) into 0 6.283 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin delta) (cos theta)))) into 0 6.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 6.284 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin delta) (cos theta)))) into (* (sin delta) (cos theta)) 6.285 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in theta 6.285 * [taylor]: Taking taylor expansion of (sin delta) in theta 6.285 * [taylor]: Taking taylor expansion of delta in theta 6.285 * [backup-simplify]: Simplify delta into delta 6.285 * [backup-simplify]: Simplify (sin delta) into (sin delta) 6.285 * [backup-simplify]: Simplify (cos delta) into (cos delta) 6.285 * [taylor]: Taking taylor expansion of (cos theta) in theta 6.285 * [taylor]: Taking taylor expansion of theta in theta 6.285 * [backup-simplify]: Simplify 0 into 0 6.285 * [backup-simplify]: Simplify 1 into 1 6.285 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 6.285 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 6.285 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 6.285 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 6.285 * [taylor]: Taking taylor expansion of (sin delta) in delta 6.285 * [taylor]: Taking taylor expansion of delta in delta 6.285 * [backup-simplify]: Simplify 0 into 0 6.285 * [backup-simplify]: Simplify 1 into 1 6.285 * [backup-simplify]: Simplify 0 into 0 6.285 * [taylor]: Taking taylor expansion of 0 in delta 6.285 * [backup-simplify]: Simplify 0 into 0 6.285 * [backup-simplify]: Simplify 0 into 0 6.285 * [backup-simplify]: Simplify 0 into 0 6.286 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.287 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 6.288 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.289 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 6.289 * [backup-simplify]: Simplify (+ 0 0) into 0 6.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.290 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 6.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.292 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 6.292 * [backup-simplify]: Simplify (- 0) into 0 6.293 * [backup-simplify]: Simplify (+ 0 0) into 0 6.293 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 6.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 6.295 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (sin delta) (cos theta))))) into (- (* 1/2 (* (sin delta) (cos theta)))) 6.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.296 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 1 0) (* 0 (* (sin delta) (cos theta))))) into 0 6.296 * [taylor]: Taking taylor expansion of 0 in theta 6.296 * [backup-simplify]: Simplify 0 into 0 6.296 * [taylor]: Taking taylor expansion of 0 in delta 6.296 * [backup-simplify]: Simplify 0 into 0 6.296 * [backup-simplify]: Simplify 0 into 0 6.296 * [backup-simplify]: Simplify (+ 0) into 0 6.296 * [backup-simplify]: Simplify (+ 0) into 0 6.297 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 6.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.297 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 6.298 * [backup-simplify]: Simplify (+ 0 0) into 0 6.298 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 6.298 * [taylor]: Taking taylor expansion of 0 in delta 6.298 * [backup-simplify]: Simplify 0 into 0 6.298 * [backup-simplify]: Simplify 0 into 0 6.298 * [backup-simplify]: Simplify 0 into 0 6.298 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 6.298 * [approximate]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in (phi1 theta delta) around 0 6.298 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 6.298 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 6.298 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 6.298 * [taylor]: Taking taylor expansion of delta in delta 6.298 * [backup-simplify]: Simplify 0 into 0 6.298 * [backup-simplify]: Simplify 1 into 1 6.299 * [backup-simplify]: Simplify (/ 1 1) into 1 6.299 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.299 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 6.299 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 6.299 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 6.299 * [taylor]: Taking taylor expansion of theta in delta 6.299 * [backup-simplify]: Simplify theta into theta 6.299 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.299 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.299 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.299 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 6.299 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 6.299 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.299 * [taylor]: Taking taylor expansion of phi1 in delta 6.299 * [backup-simplify]: Simplify phi1 into phi1 6.299 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.299 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.299 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.299 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 6.299 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.299 * [taylor]: Taking taylor expansion of phi1 in delta 6.299 * [backup-simplify]: Simplify phi1 into phi1 6.299 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.299 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.299 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.299 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 6.299 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 6.299 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.299 * [taylor]: Taking taylor expansion of delta in theta 6.299 * [backup-simplify]: Simplify delta into delta 6.299 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.299 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.299 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.299 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 6.299 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 6.300 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 6.300 * [taylor]: Taking taylor expansion of theta in theta 6.300 * [backup-simplify]: Simplify 0 into 0 6.300 * [backup-simplify]: Simplify 1 into 1 6.300 * [backup-simplify]: Simplify (/ 1 1) into 1 6.300 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.300 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 6.300 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 6.300 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.300 * [taylor]: Taking taylor expansion of phi1 in theta 6.300 * [backup-simplify]: Simplify phi1 into phi1 6.300 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.300 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.300 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.300 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.300 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.300 * [taylor]: Taking taylor expansion of phi1 in theta 6.300 * [backup-simplify]: Simplify phi1 into phi1 6.300 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.300 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.300 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.300 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 6.300 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 6.300 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 6.300 * [taylor]: Taking taylor expansion of delta in phi1 6.300 * [backup-simplify]: Simplify delta into delta 6.300 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.300 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.300 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.300 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 6.301 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 6.301 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 6.301 * [taylor]: Taking taylor expansion of theta in phi1 6.301 * [backup-simplify]: Simplify theta into theta 6.301 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.301 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.301 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.301 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 6.301 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 6.301 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.301 * [taylor]: Taking taylor expansion of phi1 in phi1 6.301 * [backup-simplify]: Simplify 0 into 0 6.301 * [backup-simplify]: Simplify 1 into 1 6.301 * [backup-simplify]: Simplify (/ 1 1) into 1 6.301 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.301 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.301 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.301 * [taylor]: Taking taylor expansion of phi1 in phi1 6.301 * [backup-simplify]: Simplify 0 into 0 6.301 * [backup-simplify]: Simplify 1 into 1 6.301 * [backup-simplify]: Simplify (/ 1 1) into 1 6.301 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.301 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 6.301 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 6.301 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 6.302 * [taylor]: Taking taylor expansion of delta in phi1 6.302 * [backup-simplify]: Simplify delta into delta 6.302 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.302 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.302 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.302 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 6.302 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 6.302 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 6.302 * [taylor]: Taking taylor expansion of theta in phi1 6.302 * [backup-simplify]: Simplify theta into theta 6.302 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.302 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.302 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.302 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 6.302 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 6.302 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.302 * [taylor]: Taking taylor expansion of phi1 in phi1 6.302 * [backup-simplify]: Simplify 0 into 0 6.302 * [backup-simplify]: Simplify 1 into 1 6.302 * [backup-simplify]: Simplify (/ 1 1) into 1 6.302 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.302 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 6.302 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.302 * [taylor]: Taking taylor expansion of phi1 in phi1 6.302 * [backup-simplify]: Simplify 0 into 0 6.302 * [backup-simplify]: Simplify 1 into 1 6.303 * [backup-simplify]: Simplify (/ 1 1) into 1 6.303 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.303 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 6.303 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 6.303 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 6.303 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 6.303 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 6.303 * [backup-simplify]: Simplify (- 0) into 0 6.303 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 6.303 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 6.304 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 6.304 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 6.304 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 6.304 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 6.304 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 6.304 * [taylor]: Taking taylor expansion of delta in theta 6.304 * [backup-simplify]: Simplify delta into delta 6.304 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 6.304 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.304 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 6.304 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 6.304 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 6.304 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 6.304 * [taylor]: Taking taylor expansion of theta in theta 6.304 * [backup-simplify]: Simplify 0 into 0 6.304 * [backup-simplify]: Simplify 1 into 1 6.304 * [backup-simplify]: Simplify (/ 1 1) into 1 6.304 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.304 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 6.304 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 6.304 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.304 * [taylor]: Taking taylor expansion of phi1 in theta 6.304 * [backup-simplify]: Simplify phi1 into phi1 6.304 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.305 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.305 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.305 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 6.305 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 6.305 * [taylor]: Taking taylor expansion of phi1 in theta 6.305 * [backup-simplify]: Simplify phi1 into phi1 6.305 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.305 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.305 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.305 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 6.305 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 6.305 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 6.305 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 6.305 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 6.305 * [backup-simplify]: Simplify (- 0) into 0 6.305 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 6.305 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.306 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.306 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.306 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 6.306 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 6.306 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 6.306 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 6.306 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 6.306 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 6.306 * [taylor]: Taking taylor expansion of delta in delta 6.306 * [backup-simplify]: Simplify 0 into 0 6.306 * [backup-simplify]: Simplify 1 into 1 6.306 * [backup-simplify]: Simplify (/ 1 1) into 1 6.306 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 6.306 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 6.306 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 6.307 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 6.307 * [taylor]: Taking taylor expansion of theta in delta 6.307 * [backup-simplify]: Simplify theta into theta 6.307 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 6.307 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 6.307 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 6.307 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 6.307 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 6.307 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.307 * [taylor]: Taking taylor expansion of phi1 in delta 6.307 * [backup-simplify]: Simplify phi1 into phi1 6.307 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.307 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.307 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.307 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 6.307 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 6.307 * [taylor]: Taking taylor expansion of phi1 in delta 6.307 * [backup-simplify]: Simplify phi1 into phi1 6.307 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.307 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 6.307 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 6.307 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 6.307 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 6.308 * [backup-simplify]: Simplify (- 0) into 0 6.308 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 6.308 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 6.308 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 6.308 * [backup-simplify]: Simplify (- 0) into 0 6.308 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 6.308 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 6.308 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 6.308 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 6.308 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 6.309 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 6.309 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 6.309 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 6.309 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.309 * [backup-simplify]: Simplify (+ 0) into 0 6.310 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 6.310 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 6.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.310 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 6.311 * [backup-simplify]: Simplify (- 0) into 0 6.311 * [backup-simplify]: Simplify (+ 0 0) into 0 6.311 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 6.311 * [backup-simplify]: Simplify (+ 0) into 0 6.312 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 6.312 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.312 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 6.313 * [backup-simplify]: Simplify (+ 0 0) into 0 6.313 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.313 * [taylor]: Taking taylor expansion of 0 in theta 6.313 * [backup-simplify]: Simplify 0 into 0 6.313 * [taylor]: Taking taylor expansion of 0 in delta 6.313 * [backup-simplify]: Simplify 0 into 0 6.313 * [backup-simplify]: Simplify 0 into 0 6.313 * [backup-simplify]: Simplify (+ 0) into 0 6.314 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.314 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.314 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.314 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.315 * [backup-simplify]: Simplify (+ 0 0) into 0 6.315 * [backup-simplify]: Simplify (+ 0) into 0 6.315 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 6.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.316 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 6.316 * [backup-simplify]: Simplify (- 0) into 0 6.316 * [backup-simplify]: Simplify (+ 0 0) into 0 6.316 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.317 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 6.317 * [backup-simplify]: Simplify (+ 0) into 0 6.317 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 6.317 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 6.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.318 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 6.318 * [backup-simplify]: Simplify (+ 0 0) into 0 6.318 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.319 * [taylor]: Taking taylor expansion of 0 in delta 6.319 * [backup-simplify]: Simplify 0 into 0 6.319 * [backup-simplify]: Simplify 0 into 0 6.319 * [backup-simplify]: Simplify (+ 0) into 0 6.319 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 6.319 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.320 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 6.320 * [backup-simplify]: Simplify (+ 0 0) into 0 6.320 * [backup-simplify]: Simplify (+ 0) into 0 6.321 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 6.321 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.322 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 6.322 * [backup-simplify]: Simplify (- 0) into 0 6.322 * [backup-simplify]: Simplify (+ 0 0) into 0 6.322 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 6.322 * [backup-simplify]: Simplify (+ 0) into 0 6.323 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 6.323 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 6.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.323 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 6.324 * [backup-simplify]: Simplify (- 0) into 0 6.324 * [backup-simplify]: Simplify (+ 0 0) into 0 6.324 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 6.324 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.324 * [backup-simplify]: Simplify 0 into 0 6.325 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.325 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.326 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.326 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.326 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.326 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.327 * [backup-simplify]: Simplify (- 0) into 0 6.327 * [backup-simplify]: Simplify (+ 0 0) into 0 6.327 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.328 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.328 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.328 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.329 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.329 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.329 * [backup-simplify]: Simplify (+ 0 0) into 0 6.330 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 6.330 * [taylor]: Taking taylor expansion of 0 in theta 6.330 * [backup-simplify]: Simplify 0 into 0 6.330 * [taylor]: Taking taylor expansion of 0 in delta 6.330 * [backup-simplify]: Simplify 0 into 0 6.330 * [backup-simplify]: Simplify 0 into 0 6.330 * [taylor]: Taking taylor expansion of 0 in delta 6.330 * [backup-simplify]: Simplify 0 into 0 6.330 * [backup-simplify]: Simplify 0 into 0 6.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.331 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.331 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.332 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.333 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.333 * [backup-simplify]: Simplify (+ 0 0) into 0 6.334 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.334 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.335 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.335 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.336 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.336 * [backup-simplify]: Simplify (- 0) into 0 6.337 * [backup-simplify]: Simplify (+ 0 0) into 0 6.337 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 6.338 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 6.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.339 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.339 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.341 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.341 * [backup-simplify]: Simplify (+ 0 0) into 0 6.342 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 6.342 * [taylor]: Taking taylor expansion of 0 in delta 6.342 * [backup-simplify]: Simplify 0 into 0 6.342 * [backup-simplify]: Simplify 0 into 0 6.342 * [backup-simplify]: Simplify (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) into (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) 6.343 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (* (cos (/ 1 (- phi1))) (* (cos (/ 1 (- theta))) (sin (/ 1 (- delta)))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.343 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in (phi1 theta delta) around 0 6.343 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 6.343 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.343 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.343 * [taylor]: Taking taylor expansion of -1 in delta 6.343 * [backup-simplify]: Simplify -1 into -1 6.343 * [taylor]: Taking taylor expansion of phi1 in delta 6.343 * [backup-simplify]: Simplify phi1 into phi1 6.343 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.343 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.343 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.343 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 6.343 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 6.343 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 6.343 * [taylor]: Taking taylor expansion of -1 in delta 6.343 * [backup-simplify]: Simplify -1 into -1 6.343 * [taylor]: Taking taylor expansion of theta in delta 6.343 * [backup-simplify]: Simplify theta into theta 6.344 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.344 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.344 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.344 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 6.344 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 6.344 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.344 * [taylor]: Taking taylor expansion of -1 in delta 6.344 * [backup-simplify]: Simplify -1 into -1 6.344 * [taylor]: Taking taylor expansion of phi1 in delta 6.344 * [backup-simplify]: Simplify phi1 into phi1 6.344 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.344 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.344 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.344 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 6.344 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.344 * [taylor]: Taking taylor expansion of -1 in delta 6.344 * [backup-simplify]: Simplify -1 into -1 6.344 * [taylor]: Taking taylor expansion of delta in delta 6.344 * [backup-simplify]: Simplify 0 into 0 6.344 * [backup-simplify]: Simplify 1 into 1 6.345 * [backup-simplify]: Simplify (/ -1 1) into -1 6.345 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.345 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 6.345 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.345 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.345 * [taylor]: Taking taylor expansion of -1 in theta 6.345 * [backup-simplify]: Simplify -1 into -1 6.345 * [taylor]: Taking taylor expansion of phi1 in theta 6.345 * [backup-simplify]: Simplify phi1 into phi1 6.345 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.345 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.345 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.345 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 6.345 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 6.345 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 6.345 * [taylor]: Taking taylor expansion of -1 in theta 6.345 * [backup-simplify]: Simplify -1 into -1 6.345 * [taylor]: Taking taylor expansion of theta in theta 6.345 * [backup-simplify]: Simplify 0 into 0 6.346 * [backup-simplify]: Simplify 1 into 1 6.346 * [backup-simplify]: Simplify (/ -1 1) into -1 6.346 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.346 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 6.346 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 6.346 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.346 * [taylor]: Taking taylor expansion of -1 in theta 6.346 * [backup-simplify]: Simplify -1 into -1 6.346 * [taylor]: Taking taylor expansion of phi1 in theta 6.346 * [backup-simplify]: Simplify phi1 into phi1 6.346 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.346 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.346 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.346 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 6.346 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.347 * [taylor]: Taking taylor expansion of -1 in theta 6.347 * [backup-simplify]: Simplify -1 into -1 6.347 * [taylor]: Taking taylor expansion of delta in theta 6.347 * [backup-simplify]: Simplify delta into delta 6.347 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.347 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.347 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.347 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 6.347 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.347 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.347 * [taylor]: Taking taylor expansion of -1 in phi1 6.347 * [backup-simplify]: Simplify -1 into -1 6.347 * [taylor]: Taking taylor expansion of phi1 in phi1 6.347 * [backup-simplify]: Simplify 0 into 0 6.347 * [backup-simplify]: Simplify 1 into 1 6.347 * [backup-simplify]: Simplify (/ -1 1) into -1 6.348 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.348 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 6.348 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 6.348 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 6.348 * [taylor]: Taking taylor expansion of -1 in phi1 6.348 * [backup-simplify]: Simplify -1 into -1 6.348 * [taylor]: Taking taylor expansion of theta in phi1 6.348 * [backup-simplify]: Simplify theta into theta 6.348 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.348 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.348 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.348 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 6.348 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 6.348 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.348 * [taylor]: Taking taylor expansion of -1 in phi1 6.348 * [backup-simplify]: Simplify -1 into -1 6.348 * [taylor]: Taking taylor expansion of phi1 in phi1 6.348 * [backup-simplify]: Simplify 0 into 0 6.348 * [backup-simplify]: Simplify 1 into 1 6.349 * [backup-simplify]: Simplify (/ -1 1) into -1 6.349 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.349 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 6.349 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.349 * [taylor]: Taking taylor expansion of -1 in phi1 6.349 * [backup-simplify]: Simplify -1 into -1 6.349 * [taylor]: Taking taylor expansion of delta in phi1 6.349 * [backup-simplify]: Simplify delta into delta 6.349 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.349 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.349 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.349 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 6.349 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 6.349 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.349 * [taylor]: Taking taylor expansion of -1 in phi1 6.349 * [backup-simplify]: Simplify -1 into -1 6.349 * [taylor]: Taking taylor expansion of phi1 in phi1 6.349 * [backup-simplify]: Simplify 0 into 0 6.349 * [backup-simplify]: Simplify 1 into 1 6.350 * [backup-simplify]: Simplify (/ -1 1) into -1 6.350 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.350 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 6.350 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 6.350 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 6.350 * [taylor]: Taking taylor expansion of -1 in phi1 6.350 * [backup-simplify]: Simplify -1 into -1 6.350 * [taylor]: Taking taylor expansion of theta in phi1 6.350 * [backup-simplify]: Simplify theta into theta 6.350 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.350 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.350 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.350 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 6.350 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 6.350 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 6.350 * [taylor]: Taking taylor expansion of -1 in phi1 6.350 * [backup-simplify]: Simplify -1 into -1 6.350 * [taylor]: Taking taylor expansion of phi1 in phi1 6.350 * [backup-simplify]: Simplify 0 into 0 6.350 * [backup-simplify]: Simplify 1 into 1 6.351 * [backup-simplify]: Simplify (/ -1 1) into -1 6.351 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.351 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 6.351 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 6.351 * [taylor]: Taking taylor expansion of -1 in phi1 6.351 * [backup-simplify]: Simplify -1 into -1 6.351 * [taylor]: Taking taylor expansion of delta in phi1 6.351 * [backup-simplify]: Simplify delta into delta 6.351 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.351 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.351 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.351 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 6.352 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 6.352 * [backup-simplify]: Simplify (- 0) into 0 6.352 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 6.352 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 6.352 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 6.352 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 6.352 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 6.353 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.353 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.353 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 6.353 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 6.353 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.353 * [taylor]: Taking taylor expansion of -1 in theta 6.353 * [backup-simplify]: Simplify -1 into -1 6.353 * [taylor]: Taking taylor expansion of phi1 in theta 6.354 * [backup-simplify]: Simplify phi1 into phi1 6.354 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.354 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.354 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.354 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 6.354 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 6.354 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 6.354 * [taylor]: Taking taylor expansion of -1 in theta 6.354 * [backup-simplify]: Simplify -1 into -1 6.354 * [taylor]: Taking taylor expansion of theta in theta 6.354 * [backup-simplify]: Simplify 0 into 0 6.354 * [backup-simplify]: Simplify 1 into 1 6.355 * [backup-simplify]: Simplify (/ -1 1) into -1 6.355 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.355 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 6.355 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 6.355 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 6.355 * [taylor]: Taking taylor expansion of -1 in theta 6.355 * [backup-simplify]: Simplify -1 into -1 6.355 * [taylor]: Taking taylor expansion of phi1 in theta 6.355 * [backup-simplify]: Simplify phi1 into phi1 6.355 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.355 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.355 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.355 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 6.355 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 6.355 * [taylor]: Taking taylor expansion of -1 in theta 6.355 * [backup-simplify]: Simplify -1 into -1 6.355 * [taylor]: Taking taylor expansion of delta in theta 6.355 * [backup-simplify]: Simplify delta into delta 6.355 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 6.355 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.356 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 6.356 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.356 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.356 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.356 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 6.356 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 6.356 * [backup-simplify]: Simplify (- 0) into 0 6.357 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 6.357 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 6.357 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 6.357 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 6.357 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 6.357 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.358 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.358 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 6.358 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 6.358 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.358 * [taylor]: Taking taylor expansion of -1 in delta 6.358 * [backup-simplify]: Simplify -1 into -1 6.358 * [taylor]: Taking taylor expansion of phi1 in delta 6.358 * [backup-simplify]: Simplify phi1 into phi1 6.358 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.358 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.358 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.358 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 6.358 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 6.358 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 6.358 * [taylor]: Taking taylor expansion of -1 in delta 6.358 * [backup-simplify]: Simplify -1 into -1 6.358 * [taylor]: Taking taylor expansion of theta in delta 6.358 * [backup-simplify]: Simplify theta into theta 6.358 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 6.358 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 6.358 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 6.358 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 6.358 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 6.359 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 6.359 * [taylor]: Taking taylor expansion of -1 in delta 6.359 * [backup-simplify]: Simplify -1 into -1 6.359 * [taylor]: Taking taylor expansion of phi1 in delta 6.359 * [backup-simplify]: Simplify phi1 into phi1 6.359 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 6.359 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 6.359 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 6.359 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 6.359 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 6.359 * [taylor]: Taking taylor expansion of -1 in delta 6.359 * [backup-simplify]: Simplify -1 into -1 6.359 * [taylor]: Taking taylor expansion of delta in delta 6.359 * [backup-simplify]: Simplify 0 into 0 6.359 * [backup-simplify]: Simplify 1 into 1 6.359 * [backup-simplify]: Simplify (/ -1 1) into -1 6.360 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 6.360 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 6.360 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 6.360 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 6.360 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 6.360 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 6.360 * [backup-simplify]: Simplify (- 0) into 0 6.360 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 6.360 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 6.360 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 6.361 * [backup-simplify]: Simplify (- 0) into 0 6.361 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 6.361 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 6.361 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 6.361 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.361 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 6.362 * [backup-simplify]: Simplify (+ 0) into 0 6.362 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 6.362 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.363 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 6.363 * [backup-simplify]: Simplify (+ 0 0) into 0 6.363 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 6.363 * [backup-simplify]: Simplify (+ 0) into 0 6.364 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 6.364 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 6.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.364 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 6.365 * [backup-simplify]: Simplify (- 0) into 0 6.365 * [backup-simplify]: Simplify (+ 0 0) into 0 6.365 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 6.365 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 6.365 * [taylor]: Taking taylor expansion of 0 in theta 6.365 * [backup-simplify]: Simplify 0 into 0 6.365 * [taylor]: Taking taylor expansion of 0 in delta 6.365 * [backup-simplify]: Simplify 0 into 0 6.365 * [backup-simplify]: Simplify 0 into 0 6.366 * [backup-simplify]: Simplify (+ 0) into 0 6.366 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 6.366 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 6.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.367 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 6.367 * [backup-simplify]: Simplify (+ 0 0) into 0 6.367 * [backup-simplify]: Simplify (+ 0) into 0 6.367 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 6.368 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.368 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 6.369 * [backup-simplify]: Simplify (- 0) into 0 6.369 * [backup-simplify]: Simplify (+ 0 0) into 0 6.369 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 6.369 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 6.369 * [backup-simplify]: Simplify (+ 0) into 0 6.370 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.370 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.370 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.371 * [backup-simplify]: Simplify (+ 0 0) into 0 6.371 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 6.371 * [taylor]: Taking taylor expansion of 0 in delta 6.371 * [backup-simplify]: Simplify 0 into 0 6.371 * [backup-simplify]: Simplify 0 into 0 6.371 * [backup-simplify]: Simplify (+ 0) into 0 6.372 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 6.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.373 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 6.373 * [backup-simplify]: Simplify (- 0) into 0 6.373 * [backup-simplify]: Simplify (+ 0 0) into 0 6.373 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 6.373 * [backup-simplify]: Simplify (+ 0) into 0 6.374 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 6.374 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 6.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.375 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 6.375 * [backup-simplify]: Simplify (- 0) into 0 6.375 * [backup-simplify]: Simplify (+ 0 0) into 0 6.375 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 6.375 * [backup-simplify]: Simplify (+ 0) into 0 6.376 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 6.376 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 6.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.377 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 6.377 * [backup-simplify]: Simplify (+ 0 0) into 0 6.377 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 6.377 * [backup-simplify]: Simplify 0 into 0 6.378 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.378 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.378 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.379 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.379 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.379 * [backup-simplify]: Simplify (+ 0 0) into 0 6.379 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 6.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.380 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.381 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 6.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.381 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.382 * [backup-simplify]: Simplify (- 0) into 0 6.382 * [backup-simplify]: Simplify (+ 0 0) into 0 6.382 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 6.383 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 6.383 * [taylor]: Taking taylor expansion of 0 in theta 6.383 * [backup-simplify]: Simplify 0 into 0 6.383 * [taylor]: Taking taylor expansion of 0 in delta 6.383 * [backup-simplify]: Simplify 0 into 0 6.383 * [backup-simplify]: Simplify 0 into 0 6.383 * [taylor]: Taking taylor expansion of 0 in delta 6.383 * [backup-simplify]: Simplify 0 into 0 6.383 * [backup-simplify]: Simplify 0 into 0 6.383 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.384 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 6.384 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 6.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.385 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 6.385 * [backup-simplify]: Simplify (+ 0 0) into 0 6.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.386 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.390 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.391 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.391 * [backup-simplify]: Simplify (- 0) into 0 6.392 * [backup-simplify]: Simplify (+ 0 0) into 0 6.392 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 6.392 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 6.393 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.393 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.393 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.394 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.394 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.394 * [backup-simplify]: Simplify (+ 0 0) into 0 6.395 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 6.395 * [taylor]: Taking taylor expansion of 0 in delta 6.395 * [backup-simplify]: Simplify 0 into 0 6.395 * [backup-simplify]: Simplify 0 into 0 6.395 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 6.395 * * * * [progress]: [ 4 / 4 ] generating series at (2 2) 6.396 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.396 * [approximate]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in (delta phi1 theta) around 0 6.396 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in theta 6.397 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.397 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in phi1 6.397 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.398 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in delta 6.398 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.398 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in delta 6.399 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.399 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in phi1 6.399 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.399 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in theta 6.400 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.400 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.400 * [taylor]: Taking taylor expansion of 0 in phi1 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [taylor]: Taking taylor expansion of 0 in theta 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [taylor]: Taking taylor expansion of 0 in theta 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [taylor]: Taking taylor expansion of 0 in phi1 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [taylor]: Taking taylor expansion of 0 in theta 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [taylor]: Taking taylor expansion of 0 in theta 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [taylor]: Taking taylor expansion of 0 in theta 6.400 * [backup-simplify]: Simplify 0 into 0 6.400 * [backup-simplify]: Simplify 0 into 0 6.401 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.402 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta)))))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.402 * [approximate]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in (delta phi1 theta) around 0 6.402 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 6.402 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.402 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 6.403 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.403 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 6.404 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.405 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 6.406 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.406 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 6.407 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.407 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 6.408 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.409 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 6.409 * [taylor]: Taking taylor expansion of 0 in phi1 6.409 * [backup-simplify]: Simplify 0 into 0 6.409 * [taylor]: Taking taylor expansion of 0 in theta 6.409 * [backup-simplify]: Simplify 0 into 0 6.409 * [backup-simplify]: Simplify 0 into 0 6.409 * [taylor]: Taking taylor expansion of 0 in theta 6.409 * [backup-simplify]: Simplify 0 into 0 6.409 * [backup-simplify]: Simplify 0 into 0 6.410 * [backup-simplify]: Simplify 0 into 0 6.410 * [taylor]: Taking taylor expansion of 0 in phi1 6.410 * [backup-simplify]: Simplify 0 into 0 6.410 * [taylor]: Taking taylor expansion of 0 in theta 6.410 * [backup-simplify]: Simplify 0 into 0 6.410 * [backup-simplify]: Simplify 0 into 0 6.410 * [taylor]: Taking taylor expansion of 0 in theta 6.410 * [backup-simplify]: Simplify 0 into 0 6.410 * [backup-simplify]: Simplify 0 into 0 6.410 * [taylor]: Taking taylor expansion of 0 in theta 6.410 * [backup-simplify]: Simplify 0 into 0 6.410 * [backup-simplify]: Simplify 0 into 0 6.411 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 theta))))) (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) 6.413 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) (- (cos (/ 1 (- delta))) (+ (* (pow (sin (/ 1 (- phi1))) 2) (cos (/ 1 (- delta)))) (* (sin (/ 1 (- phi1))) (* (cos (/ 1 (- phi1))) (* (cos (/ 1 (- theta))) (sin (/ 1 (- delta))))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.413 * [approximate]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in (delta phi1 theta) around 0 6.413 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 6.414 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.414 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 6.415 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.415 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 6.416 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.416 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 6.417 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.417 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 6.418 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.418 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 6.420 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.421 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 6.421 * [taylor]: Taking taylor expansion of 0 in phi1 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [taylor]: Taking taylor expansion of 0 in theta 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [taylor]: Taking taylor expansion of 0 in theta 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [taylor]: Taking taylor expansion of 0 in phi1 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [taylor]: Taking taylor expansion of 0 in theta 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [taylor]: Taking taylor expansion of 0 in theta 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [taylor]: Taking taylor expansion of 0 in theta 6.421 * [backup-simplify]: Simplify 0 into 0 6.421 * [backup-simplify]: Simplify 0 into 0 6.423 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))) (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta)))))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.423 * * * [progress]: simplifying candidates 6.425 * [simplify]: Simplifying: (/ (exp (cos delta)) (* (exp (* (pow (sin phi1) 2) (cos delta))) (exp (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (/ (exp (cos delta)) (exp (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (log (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (exp (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (* (cbrt (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (cbrt (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (cbrt (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (* (* (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (sqrt (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (sqrt (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (- (pow (cos delta) 3) (pow (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) 3)) (+ (* (cos delta) (cos delta)) (+ (* (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (* (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (- (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (- (* (cos delta) (cos delta)) (* (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (+ (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (+ (sqrt (cos delta)) (sqrt (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (- (sqrt (cos delta)) (sqrt (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (- (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (* (log (sin phi1)) 2) (* (log (sin phi1)) 2) (* 1 2) (pow (sin phi1) (* (cbrt 2) (cbrt 2))) (pow (sin phi1) (sqrt 2)) (pow (sin phi1) 1) (pow (* (cbrt (sin phi1)) (cbrt (sin phi1))) 2) (pow (cbrt (sin phi1)) 2) (pow (sqrt (sin phi1)) 2) (pow (sqrt (sin phi1)) 2) (pow 1 2) (pow (sin phi1) 2) (log (pow (sin phi1) 2)) (exp (pow (sin phi1) 2)) (* (cbrt (pow (sin phi1) 2)) (cbrt (pow (sin phi1) 2))) (cbrt (pow (sin phi1) 2)) (* (* (pow (sin phi1) 2) (pow (sin phi1) 2)) (pow (sin phi1) 2)) (sqrt (pow (sin phi1) 2)) (sqrt (pow (sin phi1) 2)) (pow (sin phi1) (/ 2 2)) (pow (sin phi1) (/ 2 2)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (+ (log (sin phi1)) (+ (log (cos phi1)) (+ (log (cos theta)) (log (sin delta))))) (+ (log (sin phi1)) (+ (log (cos phi1)) (log (* (cos theta) (sin delta))))) (+ (log (sin phi1)) (log (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (exp (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (* (cos theta) (cos theta)) (cos theta)) (* (* (sin delta) (sin delta)) (sin delta))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (* (cos theta) (sin delta)) (* (cos theta) (sin delta))) (* (cos theta) (sin delta))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (* (cos phi1) (* (cos theta) (sin delta))) (* (cos phi1) (* (cos theta) (sin delta)))) (* (cos phi1) (* (cos theta) (sin delta))))) (* (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (* (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (cos phi1)) (* (cbrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sqrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (log (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (exp (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (* (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (* (* (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (- 1 (+ (* 1/2 (pow delta 2)) (* delta phi1))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (- (+ (* 2/45 (pow phi1 6)) (pow phi1 2)) (* 1/3 (pow phi1 4))) (pow (sin phi1) 2) (pow (sin phi1) 2) 0 (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 6.430 * * [simplify]: Extracting # 0 : cost 0 6.430 * * [simplify]: Extracting # 1 : cost 0 6.431 * * [simplify]: Extracting # 2 : cost 0 6.431 * * [simplify]: Extracting # 3 : cost 0 6.431 * * [simplify]: Extracting # 4 : cost 0 6.432 * * [simplify]: Extracting # 5 : cost 0 6.432 * * [simplify]: Extracting # 6 : cost 0 6.432 * * [simplify]: Extracting # 7 : cost 0 6.433 * * [simplify]: Extracting # 8 : cost 0 6.433 * * [simplify]: Extracting # 9 : cost 0 6.433 * * [simplify]: Extracting # 10 : cost 0 6.434 * * [simplify]: iteration 0 : 146 enodes (cost 1537 ) 6.506 * * [simplify]: Extracting # 0 : cost 0 6.507 * * [simplify]: Extracting # 1 : cost 0 6.507 * * [simplify]: Extracting # 2 : cost 0 6.508 * * [simplify]: Extracting # 3 : cost 0 6.509 * * [simplify]: Extracting # 4 : cost 0 6.510 * * [simplify]: iteration 1 : 383 enodes (cost 1484 ) 6.729 * * [simplify]: Extracting # 0 : cost 0 6.731 * * [simplify]: Extracting # 1 : cost 0 6.732 * * [simplify]: Extracting # 2 : cost 0 6.734 * * [simplify]: Extracting # 3 : cost 0 6.735 * * [simplify]: Extracting # 4 : cost 0 6.737 * * [simplify]: Extracting # 5 : cost 0 6.738 * * [simplify]: iteration 2 : 1579 enodes (cost 1275 ) 7.326 * * [simplify]: Extracting # 0 : cost 0 7.332 * * [simplify]: Extracting # 1 : cost 0 7.337 * * [simplify]: Extracting # 2 : cost 0 7.343 * * [simplify]: Extracting # 3 : cost 0 7.349 * * [simplify]: Extracting # 4 : cost 0 7.354 * * [simplify]: iteration done: 5001 enodes (cost 1206 ) 7.355 * [simplify]: Simplified to: (exp (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (exp (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (log (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (exp (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (* (cbrt (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (cbrt (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))))) (cbrt (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (pow (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) 3) (sqrt (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (sqrt (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (- (pow (cos delta) 3) (pow (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))) 3)) (+ (* (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))) (+ (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (* (cos delta) (cos delta))) (- (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (* (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (+ (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (+ (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (+ (sqrt (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (sqrt (cos delta))) (- (sqrt (cos delta)) (sqrt (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (- (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (* (log (sin phi1)) 2) (* (log (sin phi1)) 2) 2 (pow (sin phi1) (* (cbrt 2) (cbrt 2))) (pow (sin phi1) (sqrt 2)) (sin phi1) (pow (cbrt (sin phi1)) 4) (pow (cbrt (sin phi1)) 2) (sin phi1) (sin phi1) 1 (pow (sin phi1) 2) (* (log (sin phi1)) 2) (exp (pow (sin phi1) 2)) (* (cbrt (pow (sin phi1) 2)) (cbrt (pow (sin phi1) 2))) (cbrt (pow (sin phi1) 2)) (pow (sin phi1) 6) (fabs (sin phi1)) (fabs (sin phi1)) (sin phi1) (sin phi1) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (exp (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (pow (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) 3) (pow (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) 3) (pow (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) 3) (* (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (pow (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) 3) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (cos phi1)) (* (cbrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sqrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (log (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))))) (exp (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))))) (* (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))))) (pow (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) 3) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))))) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))))) (- 1 (* delta (+ (* 1/2 delta) phi1))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta))))) (- (+ (* 2/45 (pow phi1 6)) (pow phi1 2)) (* 1/3 (pow phi1 4))) (pow (sin phi1) 2) (pow (sin phi1) 2) 0 (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (cos phi1) (* (cos theta) (sin delta))) (* (sin phi1) (cos delta)))))) 7.356 * * * [progress]: adding candidates to table 7.773 * * [progress]: iteration 4 / 4 7.773 * * * [progress]: picking best candidate 7.845 * * * * [pick]: Picked # 7.845 * * * [progress]: localizing error 7.914 * * * [progress]: generating rewritten candidates 7.915 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2 1) 7.928 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 2 1 2 1) 7.935 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 2) 8.024 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2) 8.028 * * * [progress]: generating series expansions 8.028 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2 1) 8.028 * [backup-simplify]: Simplify (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) into (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) 8.028 * [approximate]: Taking taylor expansion of (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) in (delta phi1) around 0 8.028 * [taylor]: Taking taylor expansion of (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) in phi1 8.028 * [taylor]: Taking taylor expansion of (cos delta) in phi1 8.028 * [taylor]: Taking taylor expansion of delta in phi1 8.028 * [backup-simplify]: Simplify delta into delta 8.028 * [backup-simplify]: Simplify (cos delta) into (cos delta) 8.028 * [backup-simplify]: Simplify (sin delta) into (sin delta) 8.028 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in phi1 8.028 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 8.028 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 8.029 * [taylor]: Taking taylor expansion of phi1 in phi1 8.029 * [backup-simplify]: Simplify 0 into 0 8.029 * [backup-simplify]: Simplify 1 into 1 8.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 8.030 * [taylor]: Taking taylor expansion of (cos delta) in phi1 8.030 * [taylor]: Taking taylor expansion of delta in phi1 8.030 * [backup-simplify]: Simplify delta into delta 8.030 * [backup-simplify]: Simplify (cos delta) into (cos delta) 8.030 * [backup-simplify]: Simplify (sin delta) into (sin delta) 8.030 * [taylor]: Taking taylor expansion of (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) in delta 8.030 * [taylor]: Taking taylor expansion of (cos delta) in delta 8.030 * [taylor]: Taking taylor expansion of delta in delta 8.030 * [backup-simplify]: Simplify 0 into 0 8.030 * [backup-simplify]: Simplify 1 into 1 8.030 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 8.030 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 8.030 * [taylor]: Taking taylor expansion of (sin phi1) in delta 8.030 * [taylor]: Taking taylor expansion of phi1 in delta 8.030 * [backup-simplify]: Simplify phi1 into phi1 8.030 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 8.030 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 8.030 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 8.030 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 8.030 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 8.031 * [taylor]: Taking taylor expansion of (cos delta) in delta 8.031 * [taylor]: Taking taylor expansion of delta in delta 8.031 * [backup-simplify]: Simplify 0 into 0 8.031 * [backup-simplify]: Simplify 1 into 1 8.031 * [taylor]: Taking taylor expansion of (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) in delta 8.031 * [taylor]: Taking taylor expansion of (cos delta) in delta 8.031 * [taylor]: Taking taylor expansion of delta in delta 8.031 * [backup-simplify]: Simplify 0 into 0 8.031 * [backup-simplify]: Simplify 1 into 1 8.031 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 8.031 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 8.031 * [taylor]: Taking taylor expansion of (sin phi1) in delta 8.031 * [taylor]: Taking taylor expansion of phi1 in delta 8.031 * [backup-simplify]: Simplify phi1 into phi1 8.031 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 8.031 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 8.031 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 8.031 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 8.031 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 8.031 * [taylor]: Taking taylor expansion of (cos delta) in delta 8.031 * [taylor]: Taking taylor expansion of delta in delta 8.031 * [backup-simplify]: Simplify 0 into 0 8.031 * [backup-simplify]: Simplify 1 into 1 8.032 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 8.032 * [backup-simplify]: Simplify (* (pow (sin phi1) 2) 1) into (pow (sin phi1) 2) 8.032 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 8.032 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 8.032 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 8.032 * [taylor]: Taking taylor expansion of 1 in phi1 8.032 * [backup-simplify]: Simplify 1 into 1 8.032 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 8.032 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 8.032 * [taylor]: Taking taylor expansion of phi1 in phi1 8.032 * [backup-simplify]: Simplify 0 into 0 8.033 * [backup-simplify]: Simplify 1 into 1 8.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 8.034 * [backup-simplify]: Simplify (+ 1 0) into 1 8.034 * [backup-simplify]: Simplify 1 into 1 8.035 * [backup-simplify]: Simplify (+ 0) into 0 8.035 * [backup-simplify]: Simplify (+ 0) into 0 8.036 * [backup-simplify]: Simplify (+ 0) into 0 8.036 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 8.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.037 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 8.038 * [backup-simplify]: Simplify (+ 0 0) into 0 8.038 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (sin phi1))) into 0 8.039 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) 0) (* 0 1)) into 0 8.039 * [backup-simplify]: Simplify (- 0) into 0 8.039 * [backup-simplify]: Simplify (+ 0 0) into 0 8.039 * [taylor]: Taking taylor expansion of 0 in phi1 8.039 * [backup-simplify]: Simplify 0 into 0 8.039 * [backup-simplify]: Simplify 0 into 0 8.040 * [backup-simplify]: Simplify (+ 0 0) into 0 8.040 * [backup-simplify]: Simplify 0 into 0 8.041 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 8.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 8.043 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.044 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 8.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.045 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 8.045 * [backup-simplify]: Simplify (+ 0 0) into 0 8.046 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (sin phi1)))) into 0 8.047 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (pow (sin phi1) 2))) 8.047 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 8.047 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 8.047 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 8.047 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 8.047 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.047 * [backup-simplify]: Simplify 1/2 into 1/2 8.047 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 8.047 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 8.047 * [taylor]: Taking taylor expansion of phi1 in phi1 8.047 * [backup-simplify]: Simplify 0 into 0 8.047 * [backup-simplify]: Simplify 1 into 1 8.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 8.048 * [taylor]: Taking taylor expansion of 1/2 in phi1 8.048 * [backup-simplify]: Simplify 1/2 into 1/2 8.049 * [backup-simplify]: Simplify (- 1/2) into -1/2 8.049 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 8.049 * [backup-simplify]: Simplify -1/2 into -1/2 8.049 * [backup-simplify]: Simplify 0 into 0 8.050 * [backup-simplify]: Simplify (* 1 1) into 1 8.050 * [backup-simplify]: Simplify (- 1) into -1 8.050 * [backup-simplify]: Simplify (+ 0 -1) into -1 8.050 * [backup-simplify]: Simplify -1 into -1 8.051 * [backup-simplify]: Simplify (+ (* -1 (pow (* phi1 1) 2)) (+ (* -1/2 (pow (* 1 delta) 2)) 1)) into (- 1 (+ (* 1/2 (pow delta 2)) (pow phi1 2))) 8.051 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 8.051 * [approximate]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in (delta phi1) around 0 8.051 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 8.051 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 8.051 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 8.051 * [taylor]: Taking taylor expansion of delta in phi1 8.051 * [backup-simplify]: Simplify delta into delta 8.052 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.052 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.052 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.052 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 8.052 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 8.052 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 8.052 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.052 * [taylor]: Taking taylor expansion of phi1 in phi1 8.052 * [backup-simplify]: Simplify 0 into 0 8.052 * [backup-simplify]: Simplify 1 into 1 8.052 * [backup-simplify]: Simplify (/ 1 1) into 1 8.052 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.052 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 8.052 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 8.053 * [taylor]: Taking taylor expansion of delta in phi1 8.053 * [backup-simplify]: Simplify delta into delta 8.053 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.053 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.053 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.053 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 8.053 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 8.053 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 8.053 * [taylor]: Taking taylor expansion of delta in delta 8.053 * [backup-simplify]: Simplify 0 into 0 8.053 * [backup-simplify]: Simplify 1 into 1 8.053 * [backup-simplify]: Simplify (/ 1 1) into 1 8.053 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.053 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 8.054 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 8.054 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 8.054 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 8.054 * [taylor]: Taking taylor expansion of phi1 in delta 8.054 * [backup-simplify]: Simplify phi1 into phi1 8.054 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.054 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.054 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.054 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 8.054 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 8.054 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 8.054 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 8.054 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 8.054 * [taylor]: Taking taylor expansion of delta in delta 8.054 * [backup-simplify]: Simplify 0 into 0 8.054 * [backup-simplify]: Simplify 1 into 1 8.055 * [backup-simplify]: Simplify (/ 1 1) into 1 8.055 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.055 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in delta 8.055 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 8.055 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 8.055 * [taylor]: Taking taylor expansion of delta in delta 8.055 * [backup-simplify]: Simplify 0 into 0 8.055 * [backup-simplify]: Simplify 1 into 1 8.055 * [backup-simplify]: Simplify (/ 1 1) into 1 8.055 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.055 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in delta 8.055 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in delta 8.055 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 8.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 8.056 * [taylor]: Taking taylor expansion of phi1 in delta 8.056 * [backup-simplify]: Simplify phi1 into phi1 8.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.056 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.056 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.056 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 8.056 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 8.056 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 8.056 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in delta 8.056 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 8.056 * [taylor]: Taking taylor expansion of delta in delta 8.056 * [backup-simplify]: Simplify 0 into 0 8.056 * [backup-simplify]: Simplify 1 into 1 8.057 * [backup-simplify]: Simplify (/ 1 1) into 1 8.057 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.057 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 8.057 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 8.058 * [backup-simplify]: Simplify (- (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (- (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 8.058 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 8.058 * [taylor]: Taking taylor expansion of (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) in phi1 8.058 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 8.058 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 8.058 * [taylor]: Taking taylor expansion of delta in phi1 8.058 * [backup-simplify]: Simplify delta into delta 8.058 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.058 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.058 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.058 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) in phi1 8.058 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 8.058 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 8.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.059 * [taylor]: Taking taylor expansion of phi1 in phi1 8.059 * [backup-simplify]: Simplify 0 into 0 8.059 * [backup-simplify]: Simplify 1 into 1 8.059 * [backup-simplify]: Simplify (/ 1 1) into 1 8.059 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.059 * [taylor]: Taking taylor expansion of (cos (/ 1 delta)) in phi1 8.059 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 8.059 * [taylor]: Taking taylor expansion of delta in phi1 8.059 * [backup-simplify]: Simplify delta into delta 8.059 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.059 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.059 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.059 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 8.059 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 8.059 * [backup-simplify]: Simplify (- 0) into 0 8.059 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 8.060 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 8.060 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 1) into (cos (/ 1 delta)) 8.060 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 0) into 0 8.060 * [backup-simplify]: Simplify (- 0) into 0 8.060 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) 0) into (cos (/ 1 delta)) 8.060 * [backup-simplify]: Simplify (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) into (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))) 8.060 * [backup-simplify]: Simplify (- (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (- (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 8.061 * [backup-simplify]: Simplify (+ (cos (/ 1 delta)) (- (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta))))) into (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 8.061 * [backup-simplify]: Simplify (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) into (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) 8.061 * [backup-simplify]: Simplify (+ 0) into 0 8.061 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 8.061 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.062 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 8.062 * [backup-simplify]: Simplify (+ 0 0) into 0 8.063 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 8.063 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 8.063 * [backup-simplify]: Simplify (- 0) into 0 8.063 * [backup-simplify]: Simplify (+ 0 0) into 0 8.063 * [taylor]: Taking taylor expansion of 0 in phi1 8.063 * [backup-simplify]: Simplify 0 into 0 8.063 * [backup-simplify]: Simplify 0 into 0 8.063 * [backup-simplify]: Simplify (+ 0) into 0 8.064 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 8.064 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 8.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.065 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 8.065 * [backup-simplify]: Simplify (- 0) into 0 8.065 * [backup-simplify]: Simplify (+ 0 0) into 0 8.065 * [backup-simplify]: Simplify (+ 0) into 0 8.066 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 1)) into 0 8.066 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 8.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.067 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 0)) into 0 8.067 * [backup-simplify]: Simplify (- 0) into 0 8.067 * [backup-simplify]: Simplify (+ 0 0) into 0 8.067 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 8.067 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (* 0 (cos (/ 1 delta)))) into 0 8.068 * [backup-simplify]: Simplify (- 0) into 0 8.068 * [backup-simplify]: Simplify (+ 0 0) into 0 8.068 * [backup-simplify]: Simplify 0 into 0 8.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.069 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.069 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.073 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.074 * [backup-simplify]: Simplify (+ 0 0) into 0 8.074 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 8.075 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 8.075 * [backup-simplify]: Simplify (- 0) into 0 8.075 * [backup-simplify]: Simplify (+ 0 0) into 0 8.075 * [taylor]: Taking taylor expansion of 0 in phi1 8.075 * [backup-simplify]: Simplify 0 into 0 8.075 * [backup-simplify]: Simplify 0 into 0 8.075 * [backup-simplify]: Simplify 0 into 0 8.076 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.076 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.076 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.077 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.077 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.077 * [backup-simplify]: Simplify (- 0) into 0 8.078 * [backup-simplify]: Simplify (+ 0 0) into 0 8.078 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.078 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.079 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.079 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.080 * [backup-simplify]: Simplify (- 0) into 0 8.080 * [backup-simplify]: Simplify (+ 0 0) into 0 8.080 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 8.081 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ 1 delta))))) into 0 8.081 * [backup-simplify]: Simplify (- 0) into 0 8.081 * [backup-simplify]: Simplify (+ 0 0) into 0 8.081 * [backup-simplify]: Simplify 0 into 0 8.082 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 8.082 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.082 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 8.084 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 8.084 * [backup-simplify]: Simplify (+ 0 0) into 0 8.084 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1)))))) into 0 8.085 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 1 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 1 delta)))))) into 0 8.085 * [backup-simplify]: Simplify (- 0) into 0 8.086 * [backup-simplify]: Simplify (+ 0 0) into 0 8.086 * [taylor]: Taking taylor expansion of 0 in phi1 8.086 * [backup-simplify]: Simplify 0 into 0 8.086 * [backup-simplify]: Simplify 0 into 0 8.086 * [backup-simplify]: Simplify (- (cos (/ 1 (/ 1 delta))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta))))) into (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) 8.086 * [backup-simplify]: Simplify (- (cos (/ 1 (- delta))) (* (pow (sin (/ 1 (- phi1))) 2) (cos (/ 1 (- delta))))) into (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) 8.086 * [approximate]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) in (delta phi1) around 0 8.086 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) in phi1 8.086 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 8.086 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 8.086 * [taylor]: Taking taylor expansion of -1 in phi1 8.086 * [backup-simplify]: Simplify -1 into -1 8.086 * [taylor]: Taking taylor expansion of delta in phi1 8.086 * [backup-simplify]: Simplify delta into delta 8.086 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.086 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.086 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.086 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 8.086 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 8.086 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 8.087 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.087 * [taylor]: Taking taylor expansion of -1 in phi1 8.087 * [backup-simplify]: Simplify -1 into -1 8.087 * [taylor]: Taking taylor expansion of phi1 in phi1 8.087 * [backup-simplify]: Simplify 0 into 0 8.087 * [backup-simplify]: Simplify 1 into 1 8.087 * [backup-simplify]: Simplify (/ -1 1) into -1 8.087 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.087 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 8.087 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 8.087 * [taylor]: Taking taylor expansion of -1 in phi1 8.087 * [backup-simplify]: Simplify -1 into -1 8.087 * [taylor]: Taking taylor expansion of delta in phi1 8.087 * [backup-simplify]: Simplify delta into delta 8.088 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.088 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.088 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.088 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) in delta 8.088 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 8.088 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 8.088 * [taylor]: Taking taylor expansion of -1 in delta 8.088 * [backup-simplify]: Simplify -1 into -1 8.088 * [taylor]: Taking taylor expansion of delta in delta 8.088 * [backup-simplify]: Simplify 0 into 0 8.088 * [backup-simplify]: Simplify 1 into 1 8.088 * [backup-simplify]: Simplify (/ -1 1) into -1 8.089 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.089 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 8.089 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 8.089 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 8.089 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 8.089 * [taylor]: Taking taylor expansion of -1 in delta 8.089 * [backup-simplify]: Simplify -1 into -1 8.089 * [taylor]: Taking taylor expansion of phi1 in delta 8.089 * [backup-simplify]: Simplify phi1 into phi1 8.089 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.089 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.089 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.089 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 8.089 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 8.089 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 8.089 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 8.089 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 8.089 * [taylor]: Taking taylor expansion of -1 in delta 8.090 * [backup-simplify]: Simplify -1 into -1 8.090 * [taylor]: Taking taylor expansion of delta in delta 8.090 * [backup-simplify]: Simplify 0 into 0 8.090 * [backup-simplify]: Simplify 1 into 1 8.090 * [backup-simplify]: Simplify (/ -1 1) into -1 8.090 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.090 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) in delta 8.090 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 8.090 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 8.090 * [taylor]: Taking taylor expansion of -1 in delta 8.090 * [backup-simplify]: Simplify -1 into -1 8.090 * [taylor]: Taking taylor expansion of delta in delta 8.091 * [backup-simplify]: Simplify 0 into 0 8.091 * [backup-simplify]: Simplify 1 into 1 8.091 * [backup-simplify]: Simplify (/ -1 1) into -1 8.091 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.091 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in delta 8.091 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in delta 8.091 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 8.091 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 8.091 * [taylor]: Taking taylor expansion of -1 in delta 8.091 * [backup-simplify]: Simplify -1 into -1 8.091 * [taylor]: Taking taylor expansion of phi1 in delta 8.091 * [backup-simplify]: Simplify phi1 into phi1 8.091 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.092 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.092 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.092 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 8.092 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 8.092 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 8.092 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in delta 8.092 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 8.092 * [taylor]: Taking taylor expansion of -1 in delta 8.092 * [backup-simplify]: Simplify -1 into -1 8.092 * [taylor]: Taking taylor expansion of delta in delta 8.092 * [backup-simplify]: Simplify 0 into 0 8.092 * [backup-simplify]: Simplify 1 into 1 8.093 * [backup-simplify]: Simplify (/ -1 1) into -1 8.093 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.093 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 8.093 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 8.094 * [backup-simplify]: Simplify (- (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) into (- (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) 8.094 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))))) into (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) 8.094 * [taylor]: Taking taylor expansion of (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) in phi1 8.094 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 8.094 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 8.094 * [taylor]: Taking taylor expansion of -1 in phi1 8.094 * [backup-simplify]: Simplify -1 into -1 8.094 * [taylor]: Taking taylor expansion of delta in phi1 8.094 * [backup-simplify]: Simplify delta into delta 8.094 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.095 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.095 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.095 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) in phi1 8.095 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 8.095 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 8.095 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.095 * [taylor]: Taking taylor expansion of -1 in phi1 8.095 * [backup-simplify]: Simplify -1 into -1 8.095 * [taylor]: Taking taylor expansion of phi1 in phi1 8.095 * [backup-simplify]: Simplify 0 into 0 8.095 * [backup-simplify]: Simplify 1 into 1 8.096 * [backup-simplify]: Simplify (/ -1 1) into -1 8.096 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.096 * [taylor]: Taking taylor expansion of (cos (/ -1 delta)) in phi1 8.096 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 8.096 * [taylor]: Taking taylor expansion of -1 in phi1 8.096 * [backup-simplify]: Simplify -1 into -1 8.096 * [taylor]: Taking taylor expansion of delta in phi1 8.096 * [backup-simplify]: Simplify delta into delta 8.096 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.096 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.096 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.096 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 8.096 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 8.097 * [backup-simplify]: Simplify (- 0) into 0 8.097 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 8.097 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 8.097 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 1) into (cos (/ -1 delta)) 8.097 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 0) into 0 8.098 * [backup-simplify]: Simplify (- 0) into 0 8.098 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) 0) into (cos (/ -1 delta)) 8.098 * [backup-simplify]: Simplify (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) into (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) 8.098 * [backup-simplify]: Simplify (- (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) into (- (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) 8.099 * [backup-simplify]: Simplify (+ (cos (/ -1 delta)) (- (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))))) into (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) 8.099 * [backup-simplify]: Simplify (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) into (- (cos (/ -1 delta)) (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta)))) 8.100 * [backup-simplify]: Simplify (+ 0) into 0 8.100 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 8.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 8.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.102 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 8.102 * [backup-simplify]: Simplify (+ 0 0) into 0 8.102 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 8.103 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 8.103 * [backup-simplify]: Simplify (- 0) into 0 8.103 * [backup-simplify]: Simplify (+ 0 0) into 0 8.103 * [taylor]: Taking taylor expansion of 0 in phi1 8.103 * [backup-simplify]: Simplify 0 into 0 8.103 * [backup-simplify]: Simplify 0 into 0 8.103 * [backup-simplify]: Simplify (+ 0) into 0 8.104 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 8.104 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 8.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.105 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 8.105 * [backup-simplify]: Simplify (- 0) into 0 8.105 * [backup-simplify]: Simplify (+ 0 0) into 0 8.105 * [backup-simplify]: Simplify (+ 0) into 0 8.106 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 1)) into 0 8.106 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 8.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.106 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 0)) into 0 8.107 * [backup-simplify]: Simplify (- 0) into 0 8.107 * [backup-simplify]: Simplify (+ 0 0) into 0 8.107 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 8.107 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (* 0 (cos (/ -1 delta)))) into 0 8.107 * [backup-simplify]: Simplify (- 0) into 0 8.108 * [backup-simplify]: Simplify (+ 0 0) into 0 8.108 * [backup-simplify]: Simplify 0 into 0 8.108 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.109 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.109 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.110 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.110 * [backup-simplify]: Simplify (+ 0 0) into 0 8.110 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 8.111 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 8.111 * [backup-simplify]: Simplify (- 0) into 0 8.112 * [backup-simplify]: Simplify (+ 0 0) into 0 8.112 * [taylor]: Taking taylor expansion of 0 in phi1 8.112 * [backup-simplify]: Simplify 0 into 0 8.112 * [backup-simplify]: Simplify 0 into 0 8.112 * [backup-simplify]: Simplify 0 into 0 8.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.113 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.113 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.114 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.114 * [backup-simplify]: Simplify (- 0) into 0 8.115 * [backup-simplify]: Simplify (+ 0 0) into 0 8.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.116 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.116 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.116 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.117 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.117 * [backup-simplify]: Simplify (- 0) into 0 8.117 * [backup-simplify]: Simplify (+ 0 0) into 0 8.118 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 8.118 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (* 0 (cos (/ -1 delta))))) into 0 8.119 * [backup-simplify]: Simplify (- 0) into 0 8.119 * [backup-simplify]: Simplify (+ 0 0) into 0 8.119 * [backup-simplify]: Simplify 0 into 0 8.119 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 8.120 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 8.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.121 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 8.121 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 8.121 * [backup-simplify]: Simplify (+ 0 0) into 0 8.122 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1)))))) into 0 8.123 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -1 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -1 delta)))))) into 0 8.123 * [backup-simplify]: Simplify (- 0) into 0 8.123 * [backup-simplify]: Simplify (+ 0 0) into 0 8.123 * [taylor]: Taking taylor expansion of 0 in phi1 8.123 * [backup-simplify]: Simplify 0 into 0 8.123 * [backup-simplify]: Simplify 0 into 0 8.124 * [backup-simplify]: Simplify (- (cos (/ -1 (/ 1 (- delta)))) (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta)))))) into (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) 8.124 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 2 1 2 1) 8.124 * [backup-simplify]: Simplify (pow (sin phi1) 2) into (pow (sin phi1) 2) 8.124 * [approximate]: Taking taylor expansion of (pow (sin phi1) 2) in (phi1) around 0 8.124 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 8.124 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 8.124 * [taylor]: Taking taylor expansion of phi1 in phi1 8.124 * [backup-simplify]: Simplify 0 into 0 8.124 * [backup-simplify]: Simplify 1 into 1 8.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 8.124 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 8.124 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 8.124 * [taylor]: Taking taylor expansion of phi1 in phi1 8.124 * [backup-simplify]: Simplify 0 into 0 8.124 * [backup-simplify]: Simplify 1 into 1 8.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 8.125 * [backup-simplify]: Simplify (* 1 1) into 1 8.125 * [backup-simplify]: Simplify 1 into 1 8.126 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.126 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 8.126 * [backup-simplify]: Simplify 0 into 0 8.127 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into -1/6 8.127 * [backup-simplify]: Simplify (+ (* 1 -1/6) (+ (* 0 0) (* -1/6 1))) into -1/3 8.127 * [backup-simplify]: Simplify -1/3 into -1/3 8.128 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 1 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 8.129 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 -1/6) (+ (* -1/6 0) (* 0 1)))) into 0 8.129 * [backup-simplify]: Simplify 0 into 0 8.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 5) 120)) 0 (* -1 (/ (pow 1 2) 2) (/ (pow 0 1) 1)) (* -1 (/ (pow 1 1) 1) (/ (pow 0 2) 2)) 0 0 (* 1 (/ (pow 0 1) 1))) into 1/120 8.132 * [backup-simplify]: Simplify (+ (* 1 1/120) (+ (* 0 0) (+ (* -1/6 -1/6) (+ (* 0 0) (* 1/120 1))))) into 2/45 8.132 * [backup-simplify]: Simplify 2/45 into 2/45 8.132 * [backup-simplify]: Simplify (+ (* 2/45 (pow phi1 6)) (+ (* -1/3 (pow phi1 4)) (* 1 (pow phi1 2)))) into (- (+ (* 2/45 (pow phi1 6)) (pow phi1 2)) (* 1/3 (pow phi1 4))) 8.132 * [backup-simplify]: Simplify (pow (sin (/ 1 phi1)) 2) into (pow (sin (/ 1 phi1)) 2) 8.132 * [approximate]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in (phi1) around 0 8.132 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 8.132 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 8.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.132 * [taylor]: Taking taylor expansion of phi1 in phi1 8.132 * [backup-simplify]: Simplify 0 into 0 8.132 * [backup-simplify]: Simplify 1 into 1 8.132 * [backup-simplify]: Simplify (/ 1 1) into 1 8.133 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.133 * [taylor]: Taking taylor expansion of (pow (sin (/ 1 phi1)) 2) in phi1 8.133 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 8.133 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.133 * [taylor]: Taking taylor expansion of phi1 in phi1 8.133 * [backup-simplify]: Simplify 0 into 0 8.133 * [backup-simplify]: Simplify 1 into 1 8.133 * [backup-simplify]: Simplify (/ 1 1) into 1 8.133 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.133 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (sin (/ 1 phi1))) into (pow (sin (/ 1 phi1)) 2) 8.133 * [backup-simplify]: Simplify (pow (sin (/ 1 phi1)) 2) into (pow (sin (/ 1 phi1)) 2) 8.133 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 8.133 * [backup-simplify]: Simplify 0 into 0 8.134 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 8.134 * [backup-simplify]: Simplify 0 into 0 8.134 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1)))))) into 0 8.134 * [backup-simplify]: Simplify 0 into 0 8.135 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))))) into 0 8.135 * [backup-simplify]: Simplify 0 into 0 8.136 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1)))))))) into 0 8.136 * [backup-simplify]: Simplify 0 into 0 8.137 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))))))) into 0 8.137 * [backup-simplify]: Simplify 0 into 0 8.137 * [backup-simplify]: Simplify (pow (sin (/ 1 (/ 1 phi1))) 2) into (pow (sin phi1) 2) 8.138 * [backup-simplify]: Simplify (pow (sin (/ 1 (- phi1))) 2) into (pow (sin (/ -1 phi1)) 2) 8.138 * [approximate]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in (phi1) around 0 8.138 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 8.138 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 8.138 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.138 * [taylor]: Taking taylor expansion of -1 in phi1 8.138 * [backup-simplify]: Simplify -1 into -1 8.138 * [taylor]: Taking taylor expansion of phi1 in phi1 8.138 * [backup-simplify]: Simplify 0 into 0 8.138 * [backup-simplify]: Simplify 1 into 1 8.138 * [backup-simplify]: Simplify (/ -1 1) into -1 8.138 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.138 * [taylor]: Taking taylor expansion of (pow (sin (/ -1 phi1)) 2) in phi1 8.138 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 8.138 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.138 * [taylor]: Taking taylor expansion of -1 in phi1 8.138 * [backup-simplify]: Simplify -1 into -1 8.138 * [taylor]: Taking taylor expansion of phi1 in phi1 8.138 * [backup-simplify]: Simplify 0 into 0 8.138 * [backup-simplify]: Simplify 1 into 1 8.138 * [backup-simplify]: Simplify (/ -1 1) into -1 8.139 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.139 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (sin (/ -1 phi1))) into (pow (sin (/ -1 phi1)) 2) 8.139 * [backup-simplify]: Simplify (pow (sin (/ -1 phi1)) 2) into (pow (sin (/ -1 phi1)) 2) 8.139 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (sin (/ -1 phi1)))) into 0 8.139 * [backup-simplify]: Simplify 0 into 0 8.140 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))) into 0 8.140 * [backup-simplify]: Simplify 0 into 0 8.141 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1)))))) into 0 8.141 * [backup-simplify]: Simplify 0 into 0 8.142 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))))) into 0 8.142 * [backup-simplify]: Simplify 0 into 0 8.144 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1)))))))) into 0 8.144 * [backup-simplify]: Simplify 0 into 0 8.146 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -1 phi1))))))))) into 0 8.146 * [backup-simplify]: Simplify 0 into 0 8.146 * [backup-simplify]: Simplify (pow (sin (/ -1 (/ 1 (- phi1)))) 2) into (pow (sin phi1) 2) 8.146 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 2 2) 8.146 * [backup-simplify]: Simplify (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) into (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 8.146 * [approximate]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in (phi1 theta delta) around 0 8.146 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 8.146 * [taylor]: Taking taylor expansion of (sin phi1) in delta 8.146 * [taylor]: Taking taylor expansion of phi1 in delta 8.146 * [backup-simplify]: Simplify phi1 into phi1 8.146 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 8.147 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 8.147 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 8.147 * [taylor]: Taking taylor expansion of (cos phi1) in delta 8.147 * [taylor]: Taking taylor expansion of phi1 in delta 8.147 * [backup-simplify]: Simplify phi1 into phi1 8.147 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 8.147 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 8.147 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 8.147 * [taylor]: Taking taylor expansion of (cos theta) in delta 8.147 * [taylor]: Taking taylor expansion of theta in delta 8.147 * [backup-simplify]: Simplify theta into theta 8.147 * [backup-simplify]: Simplify (cos theta) into (cos theta) 8.147 * [backup-simplify]: Simplify (sin theta) into (sin theta) 8.147 * [taylor]: Taking taylor expansion of (sin delta) in delta 8.147 * [taylor]: Taking taylor expansion of delta in delta 8.147 * [backup-simplify]: Simplify 0 into 0 8.147 * [backup-simplify]: Simplify 1 into 1 8.147 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in theta 8.147 * [taylor]: Taking taylor expansion of (sin phi1) in theta 8.147 * [taylor]: Taking taylor expansion of phi1 in theta 8.147 * [backup-simplify]: Simplify phi1 into phi1 8.147 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 8.147 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 8.147 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in theta 8.147 * [taylor]: Taking taylor expansion of (cos phi1) in theta 8.147 * [taylor]: Taking taylor expansion of phi1 in theta 8.147 * [backup-simplify]: Simplify phi1 into phi1 8.148 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 8.148 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 8.148 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 8.148 * [taylor]: Taking taylor expansion of (cos theta) in theta 8.148 * [taylor]: Taking taylor expansion of theta in theta 8.148 * [backup-simplify]: Simplify 0 into 0 8.148 * [backup-simplify]: Simplify 1 into 1 8.148 * [taylor]: Taking taylor expansion of (sin delta) in theta 8.148 * [taylor]: Taking taylor expansion of delta in theta 8.148 * [backup-simplify]: Simplify delta into delta 8.148 * [backup-simplify]: Simplify (sin delta) into (sin delta) 8.148 * [backup-simplify]: Simplify (cos delta) into (cos delta) 8.148 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 8.148 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 8.148 * [taylor]: Taking taylor expansion of phi1 in phi1 8.148 * [backup-simplify]: Simplify 0 into 0 8.148 * [backup-simplify]: Simplify 1 into 1 8.148 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 8.148 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 8.148 * [taylor]: Taking taylor expansion of phi1 in phi1 8.148 * [backup-simplify]: Simplify 0 into 0 8.148 * [backup-simplify]: Simplify 1 into 1 8.148 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 8.148 * [taylor]: Taking taylor expansion of (cos theta) in phi1 8.148 * [taylor]: Taking taylor expansion of theta in phi1 8.148 * [backup-simplify]: Simplify theta into theta 8.148 * [backup-simplify]: Simplify (cos theta) into (cos theta) 8.148 * [backup-simplify]: Simplify (sin theta) into (sin theta) 8.148 * [taylor]: Taking taylor expansion of (sin delta) in phi1 8.148 * [taylor]: Taking taylor expansion of delta in phi1 8.149 * [backup-simplify]: Simplify delta into delta 8.149 * [backup-simplify]: Simplify (sin delta) into (sin delta) 8.149 * [backup-simplify]: Simplify (cos delta) into (cos delta) 8.149 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 8.149 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 8.149 * [taylor]: Taking taylor expansion of phi1 in phi1 8.149 * [backup-simplify]: Simplify 0 into 0 8.149 * [backup-simplify]: Simplify 1 into 1 8.149 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 8.149 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 8.149 * [taylor]: Taking taylor expansion of phi1 in phi1 8.149 * [backup-simplify]: Simplify 0 into 0 8.149 * [backup-simplify]: Simplify 1 into 1 8.149 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 8.149 * [taylor]: Taking taylor expansion of (cos theta) in phi1 8.149 * [taylor]: Taking taylor expansion of theta in phi1 8.149 * [backup-simplify]: Simplify theta into theta 8.149 * [backup-simplify]: Simplify (cos theta) into (cos theta) 8.149 * [backup-simplify]: Simplify (sin theta) into (sin theta) 8.149 * [taylor]: Taking taylor expansion of (sin delta) in phi1 8.149 * [taylor]: Taking taylor expansion of delta in phi1 8.149 * [backup-simplify]: Simplify delta into delta 8.149 * [backup-simplify]: Simplify (sin delta) into (sin delta) 8.149 * [backup-simplify]: Simplify (cos delta) into (cos delta) 8.149 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 8.150 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 8.150 * [backup-simplify]: Simplify (- 0) into 0 8.150 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 8.150 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 8.150 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 8.150 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 8.150 * [backup-simplify]: Simplify (* (cos theta) (sin delta)) into (* (sin delta) (cos theta)) 8.151 * [backup-simplify]: Simplify (* 1 (* (sin delta) (cos theta))) into (* (sin delta) (cos theta)) 8.151 * [backup-simplify]: Simplify (* 0 (* (sin delta) (cos theta))) into 0 8.151 * [taylor]: Taking taylor expansion of 0 in theta 8.151 * [backup-simplify]: Simplify 0 into 0 8.151 * [taylor]: Taking taylor expansion of 0 in delta 8.151 * [backup-simplify]: Simplify 0 into 0 8.151 * [backup-simplify]: Simplify 0 into 0 8.151 * [backup-simplify]: Simplify (+ 0) into 0 8.151 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 8.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.152 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 8.152 * [backup-simplify]: Simplify (+ 0 0) into 0 8.152 * [backup-simplify]: Simplify (+ 0) into 0 8.153 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 8.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.153 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 8.154 * [backup-simplify]: Simplify (- 0) into 0 8.154 * [backup-simplify]: Simplify (+ 0 0) into 0 8.154 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 (sin delta))) into 0 8.154 * [backup-simplify]: Simplify (+ 0) into 0 8.155 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin delta) (cos theta)))) into 0 8.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 8.155 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin delta) (cos theta)))) into (* (sin delta) (cos theta)) 8.155 * [taylor]: Taking taylor expansion of (* (sin delta) (cos theta)) in theta 8.155 * [taylor]: Taking taylor expansion of (sin delta) in theta 8.155 * [taylor]: Taking taylor expansion of delta in theta 8.155 * [backup-simplify]: Simplify delta into delta 8.155 * [backup-simplify]: Simplify (sin delta) into (sin delta) 8.155 * [backup-simplify]: Simplify (cos delta) into (cos delta) 8.155 * [taylor]: Taking taylor expansion of (cos theta) in theta 8.155 * [taylor]: Taking taylor expansion of theta in theta 8.155 * [backup-simplify]: Simplify 0 into 0 8.155 * [backup-simplify]: Simplify 1 into 1 8.156 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 8.156 * [backup-simplify]: Simplify (* (cos delta) 0) into 0 8.156 * [backup-simplify]: Simplify (+ (sin delta) 0) into (sin delta) 8.156 * [backup-simplify]: Simplify (* (sin delta) 1) into (sin delta) 8.156 * [taylor]: Taking taylor expansion of (sin delta) in delta 8.156 * [taylor]: Taking taylor expansion of delta in delta 8.156 * [backup-simplify]: Simplify 0 into 0 8.156 * [backup-simplify]: Simplify 1 into 1 8.156 * [backup-simplify]: Simplify 0 into 0 8.156 * [taylor]: Taking taylor expansion of 0 in delta 8.156 * [backup-simplify]: Simplify 0 into 0 8.156 * [backup-simplify]: Simplify 0 into 0 8.156 * [backup-simplify]: Simplify 0 into 0 8.156 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.157 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (+ (* 0 0) (* 0 1))) into 0 8.157 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.157 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (+ (* 0 0) (* 0 0))) into 0 8.158 * [backup-simplify]: Simplify (+ 0 0) into 0 8.158 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.159 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 8.159 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.159 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 8.160 * [backup-simplify]: Simplify (- 0) into 0 8.160 * [backup-simplify]: Simplify (+ 0 0) into 0 8.160 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 (sin delta)))) into 0 8.161 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 8.161 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* -1/2 (* (sin delta) (cos theta))))) into (- (* 1/2 (* (sin delta) (cos theta)))) 8.162 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.162 * [backup-simplify]: Simplify (+ (* 0 (- (* 1/2 (* (sin delta) (cos theta))))) (+ (* 1 0) (* 0 (* (sin delta) (cos theta))))) into 0 8.162 * [taylor]: Taking taylor expansion of 0 in theta 8.162 * [backup-simplify]: Simplify 0 into 0 8.162 * [taylor]: Taking taylor expansion of 0 in delta 8.162 * [backup-simplify]: Simplify 0 into 0 8.162 * [backup-simplify]: Simplify 0 into 0 8.162 * [backup-simplify]: Simplify (+ 0) into 0 8.163 * [backup-simplify]: Simplify (+ 0) into 0 8.163 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 8.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.164 * [backup-simplify]: Simplify (+ (* (cos delta) 0) (* 0 0)) into 0 8.164 * [backup-simplify]: Simplify (+ 0 0) into 0 8.164 * [backup-simplify]: Simplify (+ (* (sin delta) 0) (* 0 1)) into 0 8.164 * [taylor]: Taking taylor expansion of 0 in delta 8.164 * [backup-simplify]: Simplify 0 into 0 8.164 * [backup-simplify]: Simplify 0 into 0 8.164 * [backup-simplify]: Simplify 0 into 0 8.165 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 8.165 * [approximate]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in (phi1 theta delta) around 0 8.165 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 8.165 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 8.165 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 8.165 * [taylor]: Taking taylor expansion of delta in delta 8.165 * [backup-simplify]: Simplify 0 into 0 8.165 * [backup-simplify]: Simplify 1 into 1 8.165 * [backup-simplify]: Simplify (/ 1 1) into 1 8.165 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.165 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 8.165 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 8.165 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 8.165 * [taylor]: Taking taylor expansion of theta in delta 8.165 * [backup-simplify]: Simplify theta into theta 8.165 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 8.165 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 8.165 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 8.165 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 8.165 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 8.165 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 8.165 * [taylor]: Taking taylor expansion of phi1 in delta 8.165 * [backup-simplify]: Simplify phi1 into phi1 8.165 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.165 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.165 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.165 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 8.165 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 8.165 * [taylor]: Taking taylor expansion of phi1 in delta 8.165 * [backup-simplify]: Simplify phi1 into phi1 8.165 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.166 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.166 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.166 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 8.166 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 8.166 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 8.166 * [taylor]: Taking taylor expansion of delta in theta 8.166 * [backup-simplify]: Simplify delta into delta 8.166 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.166 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.166 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.166 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 8.166 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 8.166 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 8.166 * [taylor]: Taking taylor expansion of theta in theta 8.166 * [backup-simplify]: Simplify 0 into 0 8.166 * [backup-simplify]: Simplify 1 into 1 8.166 * [backup-simplify]: Simplify (/ 1 1) into 1 8.166 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 8.166 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 8.166 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 8.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 8.166 * [taylor]: Taking taylor expansion of phi1 in theta 8.166 * [backup-simplify]: Simplify phi1 into phi1 8.166 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.166 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.166 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.166 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 8.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 8.166 * [taylor]: Taking taylor expansion of phi1 in theta 8.166 * [backup-simplify]: Simplify phi1 into phi1 8.166 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.167 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.167 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.167 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 8.167 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 8.167 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 8.167 * [taylor]: Taking taylor expansion of delta in phi1 8.167 * [backup-simplify]: Simplify delta into delta 8.167 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.167 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.167 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.167 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 8.167 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 8.167 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 8.167 * [taylor]: Taking taylor expansion of theta in phi1 8.167 * [backup-simplify]: Simplify theta into theta 8.167 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 8.167 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 8.167 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 8.167 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 8.167 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 8.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.167 * [taylor]: Taking taylor expansion of phi1 in phi1 8.167 * [backup-simplify]: Simplify 0 into 0 8.167 * [backup-simplify]: Simplify 1 into 1 8.167 * [backup-simplify]: Simplify (/ 1 1) into 1 8.167 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.167 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 8.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.167 * [taylor]: Taking taylor expansion of phi1 in phi1 8.167 * [backup-simplify]: Simplify 0 into 0 8.167 * [backup-simplify]: Simplify 1 into 1 8.168 * [backup-simplify]: Simplify (/ 1 1) into 1 8.168 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.168 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in phi1 8.168 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in phi1 8.168 * [taylor]: Taking taylor expansion of (/ 1 delta) in phi1 8.168 * [taylor]: Taking taylor expansion of delta in phi1 8.168 * [backup-simplify]: Simplify delta into delta 8.168 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.168 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.168 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.168 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in phi1 8.168 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in phi1 8.168 * [taylor]: Taking taylor expansion of (/ 1 theta) in phi1 8.168 * [taylor]: Taking taylor expansion of theta in phi1 8.168 * [backup-simplify]: Simplify theta into theta 8.168 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 8.168 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 8.168 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 8.168 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in phi1 8.168 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in phi1 8.168 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.168 * [taylor]: Taking taylor expansion of phi1 in phi1 8.168 * [backup-simplify]: Simplify 0 into 0 8.168 * [backup-simplify]: Simplify 1 into 1 8.169 * [backup-simplify]: Simplify (/ 1 1) into 1 8.169 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.169 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in phi1 8.169 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.169 * [taylor]: Taking taylor expansion of phi1 in phi1 8.169 * [backup-simplify]: Simplify 0 into 0 8.169 * [backup-simplify]: Simplify 1 into 1 8.169 * [backup-simplify]: Simplify (/ 1 1) into 1 8.169 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.169 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 8.169 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 8.169 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 8.169 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 8.169 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 8.170 * [backup-simplify]: Simplify (- 0) into 0 8.170 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 8.170 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 8.170 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 8.170 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 8.170 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in theta 8.170 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in theta 8.170 * [taylor]: Taking taylor expansion of (/ 1 delta) in theta 8.170 * [taylor]: Taking taylor expansion of delta in theta 8.170 * [backup-simplify]: Simplify delta into delta 8.170 * [backup-simplify]: Simplify (/ 1 delta) into (/ 1 delta) 8.170 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.170 * [backup-simplify]: Simplify (cos (/ 1 delta)) into (cos (/ 1 delta)) 8.170 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in theta 8.170 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in theta 8.170 * [taylor]: Taking taylor expansion of (/ 1 theta) in theta 8.170 * [taylor]: Taking taylor expansion of theta in theta 8.170 * [backup-simplify]: Simplify 0 into 0 8.170 * [backup-simplify]: Simplify 1 into 1 8.171 * [backup-simplify]: Simplify (/ 1 1) into 1 8.171 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 8.171 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in theta 8.171 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in theta 8.171 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 8.171 * [taylor]: Taking taylor expansion of phi1 in theta 8.171 * [backup-simplify]: Simplify phi1 into phi1 8.171 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.171 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.171 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.171 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in theta 8.171 * [taylor]: Taking taylor expansion of (/ 1 phi1) in theta 8.171 * [taylor]: Taking taylor expansion of phi1 in theta 8.171 * [backup-simplify]: Simplify phi1 into phi1 8.171 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.171 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.171 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.171 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) 1) into (sin (/ 1 delta)) 8.171 * [backup-simplify]: Simplify (* (cos (/ 1 delta)) 0) into 0 8.171 * [backup-simplify]: Simplify (+ (sin (/ 1 delta)) 0) into (sin (/ 1 delta)) 8.171 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 8.171 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 8.172 * [backup-simplify]: Simplify (- 0) into 0 8.172 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 8.172 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 8.172 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 8.172 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 8.172 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 8.172 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 8.172 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 8.172 * [taylor]: Taking taylor expansion of (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) in delta 8.172 * [taylor]: Taking taylor expansion of (sin (/ 1 delta)) in delta 8.172 * [taylor]: Taking taylor expansion of (/ 1 delta) in delta 8.172 * [taylor]: Taking taylor expansion of delta in delta 8.172 * [backup-simplify]: Simplify 0 into 0 8.172 * [backup-simplify]: Simplify 1 into 1 8.173 * [backup-simplify]: Simplify (/ 1 1) into 1 8.173 * [backup-simplify]: Simplify (sin (/ 1 delta)) into (sin (/ 1 delta)) 8.173 * [taylor]: Taking taylor expansion of (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) in delta 8.173 * [taylor]: Taking taylor expansion of (cos (/ 1 theta)) in delta 8.173 * [taylor]: Taking taylor expansion of (/ 1 theta) in delta 8.173 * [taylor]: Taking taylor expansion of theta in delta 8.173 * [backup-simplify]: Simplify theta into theta 8.173 * [backup-simplify]: Simplify (/ 1 theta) into (/ 1 theta) 8.173 * [backup-simplify]: Simplify (cos (/ 1 theta)) into (cos (/ 1 theta)) 8.173 * [backup-simplify]: Simplify (sin (/ 1 theta)) into (sin (/ 1 theta)) 8.173 * [taylor]: Taking taylor expansion of (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) in delta 8.173 * [taylor]: Taking taylor expansion of (cos (/ 1 phi1)) in delta 8.173 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 8.173 * [taylor]: Taking taylor expansion of phi1 in delta 8.173 * [backup-simplify]: Simplify phi1 into phi1 8.173 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.173 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.173 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.173 * [taylor]: Taking taylor expansion of (sin (/ 1 phi1)) in delta 8.173 * [taylor]: Taking taylor expansion of (/ 1 phi1) in delta 8.173 * [taylor]: Taking taylor expansion of phi1 in delta 8.173 * [backup-simplify]: Simplify phi1 into phi1 8.173 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.173 * [backup-simplify]: Simplify (sin (/ 1 phi1)) into (sin (/ 1 phi1)) 8.173 * [backup-simplify]: Simplify (cos (/ 1 phi1)) into (cos (/ 1 phi1)) 8.173 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) 1) into (cos (/ 1 theta)) 8.173 * [backup-simplify]: Simplify (* (sin (/ 1 theta)) 0) into 0 8.174 * [backup-simplify]: Simplify (- 0) into 0 8.174 * [backup-simplify]: Simplify (+ (cos (/ 1 theta)) 0) into (cos (/ 1 theta)) 8.174 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 1) into (cos (/ 1 phi1)) 8.174 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 0) into 0 8.174 * [backup-simplify]: Simplify (- 0) into 0 8.174 * [backup-simplify]: Simplify (+ (cos (/ 1 phi1)) 0) into (cos (/ 1 phi1)) 8.174 * [backup-simplify]: Simplify (* (sin (/ 1 phi1)) 1) into (sin (/ 1 phi1)) 8.174 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) 0) into 0 8.174 * [backup-simplify]: Simplify (+ (sin (/ 1 phi1)) 0) into (sin (/ 1 phi1)) 8.174 * [backup-simplify]: Simplify (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) into (* (cos (/ 1 phi1)) (sin (/ 1 phi1))) 8.174 * [backup-simplify]: Simplify (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) into (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))) 8.175 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 8.175 * [backup-simplify]: Simplify (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) 8.175 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 8.175 * [backup-simplify]: Simplify (+ 0) into 0 8.175 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 8.176 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 8.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.176 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 8.177 * [backup-simplify]: Simplify (- 0) into 0 8.177 * [backup-simplify]: Simplify (+ 0 0) into 0 8.177 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 8.177 * [backup-simplify]: Simplify (+ 0) into 0 8.177 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 8.178 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 8.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.178 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 8.179 * [backup-simplify]: Simplify (+ 0 0) into 0 8.179 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 8.179 * [taylor]: Taking taylor expansion of 0 in theta 8.179 * [backup-simplify]: Simplify 0 into 0 8.179 * [taylor]: Taking taylor expansion of 0 in delta 8.179 * [backup-simplify]: Simplify 0 into 0 8.179 * [backup-simplify]: Simplify 0 into 0 8.179 * [backup-simplify]: Simplify (+ 0) into 0 8.179 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 8.179 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.180 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 8.180 * [backup-simplify]: Simplify (+ 0 0) into 0 8.181 * [backup-simplify]: Simplify (+ 0) into 0 8.185 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 8.186 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.187 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 8.187 * [backup-simplify]: Simplify (- 0) into 0 8.187 * [backup-simplify]: Simplify (+ 0 0) into 0 8.187 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 8.188 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 8.188 * [backup-simplify]: Simplify (+ 0) into 0 8.189 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 1)) into 0 8.189 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)))) into 0 8.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.190 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (* 0 0)) into 0 8.190 * [backup-simplify]: Simplify (+ 0 0) into 0 8.191 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 8.191 * [taylor]: Taking taylor expansion of 0 in delta 8.191 * [backup-simplify]: Simplify 0 into 0 8.191 * [backup-simplify]: Simplify 0 into 0 8.191 * [backup-simplify]: Simplify (+ 0) into 0 8.192 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 1)) into 0 8.192 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.193 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 0)) into 0 8.194 * [backup-simplify]: Simplify (+ 0 0) into 0 8.194 * [backup-simplify]: Simplify (+ 0) into 0 8.195 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 1)) into 0 8.195 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.196 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (* 0 0)) into 0 8.196 * [backup-simplify]: Simplify (- 0) into 0 8.196 * [backup-simplify]: Simplify (+ 0 0) into 0 8.197 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (* 0 (sin (/ 1 phi1)))) into 0 8.197 * [backup-simplify]: Simplify (+ 0) into 0 8.198 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 1)) into 0 8.198 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)))) into 0 8.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.199 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (* 0 0)) into 0 8.199 * [backup-simplify]: Simplify (- 0) into 0 8.200 * [backup-simplify]: Simplify (+ 0 0) into 0 8.200 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) into 0 8.200 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 8.200 * [backup-simplify]: Simplify 0 into 0 8.201 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 8.202 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.202 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.203 * [backup-simplify]: Simplify (- (+ (* (/ 1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 8.203 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.204 * [backup-simplify]: Simplify (+ (* (sin (/ 1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.204 * [backup-simplify]: Simplify (- 0) into 0 8.205 * [backup-simplify]: Simplify (+ 0 0) into 0 8.205 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 8.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.207 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.207 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.208 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.209 * [backup-simplify]: Simplify (+ 0 0) into 0 8.209 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 8.209 * [taylor]: Taking taylor expansion of 0 in theta 8.209 * [backup-simplify]: Simplify 0 into 0 8.210 * [taylor]: Taking taylor expansion of 0 in delta 8.210 * [backup-simplify]: Simplify 0 into 0 8.210 * [backup-simplify]: Simplify 0 into 0 8.210 * [taylor]: Taking taylor expansion of 0 in delta 8.210 * [backup-simplify]: Simplify 0 into 0 8.210 * [backup-simplify]: Simplify 0 into 0 8.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.211 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.211 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.212 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.213 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.213 * [backup-simplify]: Simplify (+ 0 0) into 0 8.214 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.215 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.215 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.217 * [backup-simplify]: Simplify (+ (* (sin (/ 1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.217 * [backup-simplify]: Simplify (- 0) into 0 8.217 * [backup-simplify]: Simplify (+ 0 0) into 0 8.218 * [backup-simplify]: Simplify (+ (* (cos (/ 1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 1 phi1))))) into 0 8.219 * [backup-simplify]: Simplify (+ (* (cos (/ 1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 phi1)) (sin (/ 1 phi1)))))) into 0 8.220 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.220 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.221 * [backup-simplify]: Simplify (- (+ (* (/ 1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.221 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.222 * [backup-simplify]: Simplify (+ (* (cos (/ 1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.222 * [backup-simplify]: Simplify (+ 0 0) into 0 8.223 * [backup-simplify]: Simplify (+ (* (sin (/ 1 delta)) 0) (+ (* 0 0) (* 0 (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))))) into 0 8.223 * [taylor]: Taking taylor expansion of 0 in delta 8.223 * [backup-simplify]: Simplify 0 into 0 8.223 * [backup-simplify]: Simplify 0 into 0 8.224 * [backup-simplify]: Simplify (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) into (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) 8.224 * [backup-simplify]: Simplify (* (sin (/ 1 (- phi1))) (* (cos (/ 1 (- phi1))) (* (cos (/ 1 (- theta))) (sin (/ 1 (- delta)))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 8.224 * [approximate]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in (phi1 theta delta) around 0 8.224 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 8.224 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 8.224 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 8.224 * [taylor]: Taking taylor expansion of -1 in delta 8.224 * [backup-simplify]: Simplify -1 into -1 8.224 * [taylor]: Taking taylor expansion of phi1 in delta 8.224 * [backup-simplify]: Simplify phi1 into phi1 8.224 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.224 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.225 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.225 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 8.225 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 8.225 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 8.225 * [taylor]: Taking taylor expansion of -1 in delta 8.225 * [backup-simplify]: Simplify -1 into -1 8.225 * [taylor]: Taking taylor expansion of theta in delta 8.225 * [backup-simplify]: Simplify theta into theta 8.225 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 8.225 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 8.225 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 8.225 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 8.225 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 8.225 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 8.225 * [taylor]: Taking taylor expansion of -1 in delta 8.225 * [backup-simplify]: Simplify -1 into -1 8.225 * [taylor]: Taking taylor expansion of phi1 in delta 8.225 * [backup-simplify]: Simplify phi1 into phi1 8.225 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.225 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.225 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.225 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 8.225 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 8.225 * [taylor]: Taking taylor expansion of -1 in delta 8.226 * [backup-simplify]: Simplify -1 into -1 8.226 * [taylor]: Taking taylor expansion of delta in delta 8.226 * [backup-simplify]: Simplify 0 into 0 8.226 * [backup-simplify]: Simplify 1 into 1 8.226 * [backup-simplify]: Simplify (/ -1 1) into -1 8.226 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.226 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 8.226 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 8.226 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 8.226 * [taylor]: Taking taylor expansion of -1 in theta 8.226 * [backup-simplify]: Simplify -1 into -1 8.226 * [taylor]: Taking taylor expansion of phi1 in theta 8.226 * [backup-simplify]: Simplify phi1 into phi1 8.226 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.227 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.227 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.227 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 8.227 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 8.227 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 8.227 * [taylor]: Taking taylor expansion of -1 in theta 8.227 * [backup-simplify]: Simplify -1 into -1 8.227 * [taylor]: Taking taylor expansion of theta in theta 8.227 * [backup-simplify]: Simplify 0 into 0 8.227 * [backup-simplify]: Simplify 1 into 1 8.227 * [backup-simplify]: Simplify (/ -1 1) into -1 8.227 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 8.227 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 8.227 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 8.227 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 8.227 * [taylor]: Taking taylor expansion of -1 in theta 8.228 * [backup-simplify]: Simplify -1 into -1 8.228 * [taylor]: Taking taylor expansion of phi1 in theta 8.228 * [backup-simplify]: Simplify phi1 into phi1 8.228 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.228 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.228 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.228 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 8.228 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 8.228 * [taylor]: Taking taylor expansion of -1 in theta 8.228 * [backup-simplify]: Simplify -1 into -1 8.228 * [taylor]: Taking taylor expansion of delta in theta 8.228 * [backup-simplify]: Simplify delta into delta 8.228 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.228 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.228 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.228 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 8.228 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 8.228 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.228 * [taylor]: Taking taylor expansion of -1 in phi1 8.229 * [backup-simplify]: Simplify -1 into -1 8.229 * [taylor]: Taking taylor expansion of phi1 in phi1 8.229 * [backup-simplify]: Simplify 0 into 0 8.229 * [backup-simplify]: Simplify 1 into 1 8.229 * [backup-simplify]: Simplify (/ -1 1) into -1 8.229 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.229 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 8.229 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 8.229 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 8.229 * [taylor]: Taking taylor expansion of -1 in phi1 8.229 * [backup-simplify]: Simplify -1 into -1 8.229 * [taylor]: Taking taylor expansion of theta in phi1 8.229 * [backup-simplify]: Simplify theta into theta 8.229 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 8.229 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 8.230 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 8.230 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 8.230 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 8.230 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.230 * [taylor]: Taking taylor expansion of -1 in phi1 8.230 * [backup-simplify]: Simplify -1 into -1 8.230 * [taylor]: Taking taylor expansion of phi1 in phi1 8.230 * [backup-simplify]: Simplify 0 into 0 8.230 * [backup-simplify]: Simplify 1 into 1 8.230 * [backup-simplify]: Simplify (/ -1 1) into -1 8.230 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.230 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 8.230 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 8.230 * [taylor]: Taking taylor expansion of -1 in phi1 8.230 * [backup-simplify]: Simplify -1 into -1 8.230 * [taylor]: Taking taylor expansion of delta in phi1 8.230 * [backup-simplify]: Simplify delta into delta 8.231 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.231 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.231 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.231 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in phi1 8.231 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in phi1 8.231 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.231 * [taylor]: Taking taylor expansion of -1 in phi1 8.231 * [backup-simplify]: Simplify -1 into -1 8.231 * [taylor]: Taking taylor expansion of phi1 in phi1 8.231 * [backup-simplify]: Simplify 0 into 0 8.231 * [backup-simplify]: Simplify 1 into 1 8.231 * [backup-simplify]: Simplify (/ -1 1) into -1 8.231 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.232 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in phi1 8.232 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in phi1 8.232 * [taylor]: Taking taylor expansion of (/ -1 theta) in phi1 8.232 * [taylor]: Taking taylor expansion of -1 in phi1 8.232 * [backup-simplify]: Simplify -1 into -1 8.232 * [taylor]: Taking taylor expansion of theta in phi1 8.232 * [backup-simplify]: Simplify theta into theta 8.232 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 8.232 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 8.232 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 8.232 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in phi1 8.232 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in phi1 8.232 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 8.232 * [taylor]: Taking taylor expansion of -1 in phi1 8.232 * [backup-simplify]: Simplify -1 into -1 8.232 * [taylor]: Taking taylor expansion of phi1 in phi1 8.232 * [backup-simplify]: Simplify 0 into 0 8.232 * [backup-simplify]: Simplify 1 into 1 8.233 * [backup-simplify]: Simplify (/ -1 1) into -1 8.233 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.233 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in phi1 8.233 * [taylor]: Taking taylor expansion of (/ -1 delta) in phi1 8.233 * [taylor]: Taking taylor expansion of -1 in phi1 8.233 * [backup-simplify]: Simplify -1 into -1 8.233 * [taylor]: Taking taylor expansion of delta in phi1 8.233 * [backup-simplify]: Simplify delta into delta 8.233 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.233 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.233 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.233 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 8.233 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 8.234 * [backup-simplify]: Simplify (- 0) into 0 8.234 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 8.234 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 8.234 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 8.234 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 8.234 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 8.235 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 8.235 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 8.235 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in theta 8.235 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in theta 8.235 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 8.235 * [taylor]: Taking taylor expansion of -1 in theta 8.235 * [backup-simplify]: Simplify -1 into -1 8.235 * [taylor]: Taking taylor expansion of phi1 in theta 8.235 * [backup-simplify]: Simplify phi1 into phi1 8.235 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.235 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.235 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.235 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in theta 8.236 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in theta 8.236 * [taylor]: Taking taylor expansion of (/ -1 theta) in theta 8.236 * [taylor]: Taking taylor expansion of -1 in theta 8.236 * [backup-simplify]: Simplify -1 into -1 8.236 * [taylor]: Taking taylor expansion of theta in theta 8.236 * [backup-simplify]: Simplify 0 into 0 8.236 * [backup-simplify]: Simplify 1 into 1 8.236 * [backup-simplify]: Simplify (/ -1 1) into -1 8.236 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 8.236 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in theta 8.236 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in theta 8.236 * [taylor]: Taking taylor expansion of (/ -1 phi1) in theta 8.236 * [taylor]: Taking taylor expansion of -1 in theta 8.236 * [backup-simplify]: Simplify -1 into -1 8.236 * [taylor]: Taking taylor expansion of phi1 in theta 8.236 * [backup-simplify]: Simplify phi1 into phi1 8.236 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.237 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.237 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.237 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in theta 8.237 * [taylor]: Taking taylor expansion of (/ -1 delta) in theta 8.237 * [taylor]: Taking taylor expansion of -1 in theta 8.237 * [backup-simplify]: Simplify -1 into -1 8.237 * [taylor]: Taking taylor expansion of delta in theta 8.237 * [backup-simplify]: Simplify delta into delta 8.237 * [backup-simplify]: Simplify (/ -1 delta) into (/ -1 delta) 8.237 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.237 * [backup-simplify]: Simplify (cos (/ -1 delta)) into (cos (/ -1 delta)) 8.237 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 8.237 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 8.237 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 8.237 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 8.238 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 8.238 * [backup-simplify]: Simplify (- 0) into 0 8.238 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 8.238 * [backup-simplify]: Simplify (* (sin (/ -1 delta)) 1) into (sin (/ -1 delta)) 8.238 * [backup-simplify]: Simplify (* (cos (/ -1 delta)) 0) into 0 8.238 * [backup-simplify]: Simplify (+ (sin (/ -1 delta)) 0) into (sin (/ -1 delta)) 8.239 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 8.239 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 8.239 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 8.239 * [taylor]: Taking taylor expansion of (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) in delta 8.239 * [taylor]: Taking taylor expansion of (sin (/ -1 phi1)) in delta 8.239 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 8.239 * [taylor]: Taking taylor expansion of -1 in delta 8.239 * [backup-simplify]: Simplify -1 into -1 8.239 * [taylor]: Taking taylor expansion of phi1 in delta 8.239 * [backup-simplify]: Simplify phi1 into phi1 8.239 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.239 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.239 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.239 * [taylor]: Taking taylor expansion of (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) in delta 8.239 * [taylor]: Taking taylor expansion of (cos (/ -1 theta)) in delta 8.239 * [taylor]: Taking taylor expansion of (/ -1 theta) in delta 8.239 * [taylor]: Taking taylor expansion of -1 in delta 8.239 * [backup-simplify]: Simplify -1 into -1 8.239 * [taylor]: Taking taylor expansion of theta in delta 8.239 * [backup-simplify]: Simplify theta into theta 8.239 * [backup-simplify]: Simplify (/ -1 theta) into (/ -1 theta) 8.239 * [backup-simplify]: Simplify (cos (/ -1 theta)) into (cos (/ -1 theta)) 8.239 * [backup-simplify]: Simplify (sin (/ -1 theta)) into (sin (/ -1 theta)) 8.239 * [taylor]: Taking taylor expansion of (* (cos (/ -1 phi1)) (sin (/ -1 delta))) in delta 8.239 * [taylor]: Taking taylor expansion of (cos (/ -1 phi1)) in delta 8.239 * [taylor]: Taking taylor expansion of (/ -1 phi1) in delta 8.239 * [taylor]: Taking taylor expansion of -1 in delta 8.239 * [backup-simplify]: Simplify -1 into -1 8.239 * [taylor]: Taking taylor expansion of phi1 in delta 8.239 * [backup-simplify]: Simplify phi1 into phi1 8.239 * [backup-simplify]: Simplify (/ -1 phi1) into (/ -1 phi1) 8.240 * [backup-simplify]: Simplify (cos (/ -1 phi1)) into (cos (/ -1 phi1)) 8.240 * [backup-simplify]: Simplify (sin (/ -1 phi1)) into (sin (/ -1 phi1)) 8.240 * [taylor]: Taking taylor expansion of (sin (/ -1 delta)) in delta 8.240 * [taylor]: Taking taylor expansion of (/ -1 delta) in delta 8.240 * [taylor]: Taking taylor expansion of -1 in delta 8.240 * [backup-simplify]: Simplify -1 into -1 8.240 * [taylor]: Taking taylor expansion of delta in delta 8.240 * [backup-simplify]: Simplify 0 into 0 8.240 * [backup-simplify]: Simplify 1 into 1 8.240 * [backup-simplify]: Simplify (/ -1 1) into -1 8.240 * [backup-simplify]: Simplify (sin (/ -1 delta)) into (sin (/ -1 delta)) 8.240 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 1) into (sin (/ -1 phi1)) 8.240 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 0) into 0 8.240 * [backup-simplify]: Simplify (+ (sin (/ -1 phi1)) 0) into (sin (/ -1 phi1)) 8.240 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) 1) into (cos (/ -1 theta)) 8.240 * [backup-simplify]: Simplify (* (sin (/ -1 theta)) 0) into 0 8.241 * [backup-simplify]: Simplify (- 0) into 0 8.241 * [backup-simplify]: Simplify (+ (cos (/ -1 theta)) 0) into (cos (/ -1 theta)) 8.241 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) 1) into (cos (/ -1 phi1)) 8.241 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) 0) into 0 8.241 * [backup-simplify]: Simplify (- 0) into 0 8.241 * [backup-simplify]: Simplify (+ (cos (/ -1 phi1)) 0) into (cos (/ -1 phi1)) 8.241 * [backup-simplify]: Simplify (* (cos (/ -1 phi1)) (sin (/ -1 delta))) into (* (cos (/ -1 phi1)) (sin (/ -1 delta))) 8.241 * [backup-simplify]: Simplify (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))) into (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))) 8.241 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 8.242 * [backup-simplify]: Simplify (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) 8.242 * [backup-simplify]: Simplify (+ 0) into 0 8.242 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 8.242 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 8.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.243 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 8.243 * [backup-simplify]: Simplify (+ 0 0) into 0 8.243 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 8.244 * [backup-simplify]: Simplify (+ 0) into 0 8.244 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 8.244 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 8.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.245 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 8.245 * [backup-simplify]: Simplify (- 0) into 0 8.246 * [backup-simplify]: Simplify (+ 0 0) into 0 8.246 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 8.246 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 8.246 * [taylor]: Taking taylor expansion of 0 in theta 8.246 * [backup-simplify]: Simplify 0 into 0 8.246 * [taylor]: Taking taylor expansion of 0 in delta 8.246 * [backup-simplify]: Simplify 0 into 0 8.246 * [backup-simplify]: Simplify 0 into 0 8.246 * [backup-simplify]: Simplify (+ 0) into 0 8.247 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (* 0 1)) into 0 8.247 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)))) into 0 8.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.248 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (* 0 0)) into 0 8.248 * [backup-simplify]: Simplify (+ 0 0) into 0 8.248 * [backup-simplify]: Simplify (+ 0) into 0 8.248 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 8.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 8.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.249 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 8.249 * [backup-simplify]: Simplify (- 0) into 0 8.250 * [backup-simplify]: Simplify (+ 0 0) into 0 8.250 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 8.250 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 8.250 * [backup-simplify]: Simplify (+ 0) into 0 8.250 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 8.251 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 8.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.251 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 8.251 * [backup-simplify]: Simplify (+ 0 0) into 0 8.252 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 8.252 * [taylor]: Taking taylor expansion of 0 in delta 8.252 * [backup-simplify]: Simplify 0 into 0 8.252 * [backup-simplify]: Simplify 0 into 0 8.252 * [backup-simplify]: Simplify (+ 0) into 0 8.252 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 1)) into 0 8.252 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 8.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.253 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 0)) into 0 8.253 * [backup-simplify]: Simplify (- 0) into 0 8.254 * [backup-simplify]: Simplify (+ 0 0) into 0 8.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 (sin (/ -1 delta)))) into 0 8.254 * [backup-simplify]: Simplify (+ 0) into 0 8.254 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 1)) into 0 8.254 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)))) into 0 8.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.255 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (* 0 0)) into 0 8.255 * [backup-simplify]: Simplify (- 0) into 0 8.256 * [backup-simplify]: Simplify (+ 0 0) into 0 8.256 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta))))) into 0 8.256 * [backup-simplify]: Simplify (+ 0) into 0 8.256 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 1)) into 0 8.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)))) into 0 8.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.257 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (* 0 0)) into 0 8.257 * [backup-simplify]: Simplify (+ 0 0) into 0 8.258 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta)))))) into 0 8.258 * [backup-simplify]: Simplify 0 into 0 8.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.259 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.259 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.259 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.259 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.260 * [backup-simplify]: Simplify (+ 0 0) into 0 8.260 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 8.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.261 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.261 * [backup-simplify]: Simplify (- (/ 0 theta) (+ (* (/ -1 theta) (/ 0 theta)) (* 0 (/ 0 theta)))) into 0 8.262 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.262 * [backup-simplify]: Simplify (+ (* (sin (/ -1 theta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.262 * [backup-simplify]: Simplify (- 0) into 0 8.262 * [backup-simplify]: Simplify (+ 0 0) into 0 8.263 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 8.263 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 8.263 * [taylor]: Taking taylor expansion of 0 in theta 8.263 * [backup-simplify]: Simplify 0 into 0 8.263 * [taylor]: Taking taylor expansion of 0 in delta 8.263 * [backup-simplify]: Simplify 0 into 0 8.263 * [backup-simplify]: Simplify 0 into 0 8.264 * [taylor]: Taking taylor expansion of 0 in delta 8.264 * [backup-simplify]: Simplify 0 into 0 8.264 * [backup-simplify]: Simplify 0 into 0 8.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.265 * [backup-simplify]: Simplify (+ (* (sin (/ -1 delta)) 0) (+ (* 0 0) (* 0 1))) into 0 8.265 * [backup-simplify]: Simplify (- (/ 0 delta) (+ (* (/ -1 delta) (/ 0 delta)) (* 0 (/ 0 delta)))) into 0 8.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.266 * [backup-simplify]: Simplify (+ (* (cos (/ -1 delta)) 0) (+ (* 0 0) (* 0 0))) into 0 8.266 * [backup-simplify]: Simplify (+ 0 0) into 0 8.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.267 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.268 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.268 * [backup-simplify]: Simplify (- 0) into 0 8.268 * [backup-simplify]: Simplify (+ 0 0) into 0 8.269 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -1 delta))))) into 0 8.269 * [backup-simplify]: Simplify (+ (* (cos (/ -1 theta)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))) into 0 8.270 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.270 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.270 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.271 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.272 * [backup-simplify]: Simplify (+ (* (cos (/ -1 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.272 * [backup-simplify]: Simplify (+ 0 0) into 0 8.273 * [backup-simplify]: Simplify (+ (* (sin (/ -1 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -1 phi1)) (* (cos (/ -1 theta)) (sin (/ -1 delta))))))) into 0 8.273 * [taylor]: Taking taylor expansion of 0 in delta 8.273 * [backup-simplify]: Simplify 0 into 0 8.273 * [backup-simplify]: Simplify 0 into 0 8.273 * [backup-simplify]: Simplify (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta))))))) into (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 8.274 * * * * [progress]: [ 4 / 4 ] generating series at (2 2) 8.275 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.275 * [approximate]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in (delta phi1 theta) around 0 8.275 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in theta 8.276 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.276 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in phi1 8.277 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.277 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in delta 8.277 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.277 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in delta 8.278 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.278 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in phi1 8.279 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.279 * [taylor]: Taking taylor expansion of (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) in theta 8.280 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.281 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.281 * [taylor]: Taking taylor expansion of 0 in phi1 8.281 * [backup-simplify]: Simplify 0 into 0 8.281 * [taylor]: Taking taylor expansion of 0 in theta 8.281 * [backup-simplify]: Simplify 0 into 0 8.281 * [backup-simplify]: Simplify 0 into 0 8.281 * [taylor]: Taking taylor expansion of 0 in theta 8.281 * [backup-simplify]: Simplify 0 into 0 8.281 * [backup-simplify]: Simplify 0 into 0 8.282 * [backup-simplify]: Simplify 0 into 0 8.282 * [taylor]: Taking taylor expansion of 0 in phi1 8.282 * [backup-simplify]: Simplify 0 into 0 8.282 * [taylor]: Taking taylor expansion of 0 in theta 8.282 * [backup-simplify]: Simplify 0 into 0 8.282 * [backup-simplify]: Simplify 0 into 0 8.282 * [taylor]: Taking taylor expansion of 0 in theta 8.282 * [backup-simplify]: Simplify 0 into 0 8.282 * [backup-simplify]: Simplify 0 into 0 8.282 * [taylor]: Taking taylor expansion of 0 in theta 8.282 * [backup-simplify]: Simplify 0 into 0 8.282 * [backup-simplify]: Simplify 0 into 0 8.283 * [backup-simplify]: Simplify (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.284 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (- (cos (/ 1 delta)) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))) (* (sin (/ 1 phi1)) (* (cos (/ 1 phi1)) (* (cos (/ 1 theta)) (sin (/ 1 delta))))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.284 * [approximate]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in (delta phi1 theta) around 0 8.284 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 8.285 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.285 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 8.286 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.287 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 8.288 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.288 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in delta 8.290 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.290 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in phi1 8.291 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.291 * [taylor]: Taking taylor expansion of (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) in theta 8.292 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.293 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) into (atan2 (* (sin (/ 1 delta)) (* (cos (/ 1 phi1)) (sin (/ 1 theta)))) (- (cos (/ 1 delta)) (+ (* (sin (/ 1 delta)) (* (cos (/ 1 theta)) (* (cos (/ 1 phi1)) (sin (/ 1 phi1))))) (* (pow (sin (/ 1 phi1)) 2) (cos (/ 1 delta)))))) 8.294 * [taylor]: Taking taylor expansion of 0 in phi1 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [taylor]: Taking taylor expansion of 0 in theta 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [taylor]: Taking taylor expansion of 0 in theta 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [taylor]: Taking taylor expansion of 0 in phi1 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [taylor]: Taking taylor expansion of 0 in theta 8.294 * [backup-simplify]: Simplify 0 into 0 8.294 * [backup-simplify]: Simplify 0 into 0 8.295 * [taylor]: Taking taylor expansion of 0 in theta 8.295 * [backup-simplify]: Simplify 0 into 0 8.295 * [backup-simplify]: Simplify 0 into 0 8.295 * [taylor]: Taking taylor expansion of 0 in theta 8.295 * [backup-simplify]: Simplify 0 into 0 8.295 * [backup-simplify]: Simplify 0 into 0 8.296 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 theta))))) (- (cos (/ 1 (/ 1 delta))) (+ (* (sin (/ 1 (/ 1 delta))) (* (cos (/ 1 (/ 1 theta))) (* (cos (/ 1 (/ 1 phi1))) (sin (/ 1 (/ 1 phi1)))))) (* (pow (sin (/ 1 (/ 1 phi1))) 2) (cos (/ 1 (/ 1 delta))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) 8.297 * [backup-simplify]: Simplify (atan2 (* (sin (/ 1 (- delta))) (* (cos (/ 1 (- phi1))) (sin (/ 1 (- theta))))) (- (- (cos (/ 1 (- delta))) (* (pow (sin (/ 1 (- phi1))) 2) (cos (/ 1 (- delta))))) (* (sin (/ 1 (- phi1))) (* (cos (/ 1 (- phi1))) (* (cos (/ 1 (- theta))) (sin (/ 1 (- delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.298 * [approximate]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in (delta phi1 theta) around 0 8.298 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 8.299 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.299 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 8.300 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.300 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 8.301 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.301 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in delta 8.302 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.302 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in phi1 8.303 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.304 * [taylor]: Taking taylor expansion of (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) in theta 8.305 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.306 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) into (atan2 (* (cos (/ -1 phi1)) (* (sin (/ -1 theta)) (sin (/ -1 delta)))) (- (cos (/ -1 delta)) (+ (* (pow (sin (/ -1 phi1)) 2) (cos (/ -1 delta))) (* (sin (/ -1 phi1)) (* (cos (/ -1 theta)) (* (cos (/ -1 phi1)) (sin (/ -1 delta)))))))) 8.306 * [taylor]: Taking taylor expansion of 0 in phi1 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [taylor]: Taking taylor expansion of 0 in theta 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [taylor]: Taking taylor expansion of 0 in theta 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [taylor]: Taking taylor expansion of 0 in phi1 8.306 * [backup-simplify]: Simplify 0 into 0 8.306 * [taylor]: Taking taylor expansion of 0 in theta 8.307 * [backup-simplify]: Simplify 0 into 0 8.307 * [backup-simplify]: Simplify 0 into 0 8.307 * [taylor]: Taking taylor expansion of 0 in theta 8.307 * [backup-simplify]: Simplify 0 into 0 8.307 * [backup-simplify]: Simplify 0 into 0 8.307 * [taylor]: Taking taylor expansion of 0 in theta 8.307 * [backup-simplify]: Simplify 0 into 0 8.307 * [backup-simplify]: Simplify 0 into 0 8.308 * [backup-simplify]: Simplify (atan2 (* (cos (/ -1 (/ 1 (- phi1)))) (* (sin (/ -1 (/ 1 (- theta)))) (sin (/ -1 (/ 1 (- delta)))))) (- (cos (/ -1 (/ 1 (- delta)))) (+ (* (pow (sin (/ -1 (/ 1 (- phi1)))) 2) (cos (/ -1 (/ 1 (- delta))))) (* (sin (/ -1 (/ 1 (- phi1)))) (* (cos (/ -1 (/ 1 (- theta)))) (* (cos (/ -1 (/ 1 (- phi1)))) (sin (/ -1 (/ 1 (- delta)))))))))) into (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.308 * * * [progress]: simplifying candidates 8.310 * [simplify]: Simplifying: (/ (exp (cos delta)) (exp (* (pow (sin phi1) 2) (cos delta)))) (log (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (exp (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (* (cbrt (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (cbrt (- (cos delta) (* (pow (sin phi1) 2) (cos delta))))) (cbrt (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (* (* (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (sqrt (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (sqrt (- (cos delta) (* (pow (sin phi1) 2) (cos delta)))) (- (pow (cos delta) 3) (pow (* (pow (sin phi1) 2) (cos delta)) 3)) (+ (* (cos delta) (cos delta)) (+ (* (* (pow (sin phi1) 2) (cos delta)) (* (pow (sin phi1) 2) (cos delta))) (* (cos delta) (* (pow (sin phi1) 2) (cos delta))))) (- (* (pow (sin phi1) 2) (cos delta))) (- (* (cos delta) (cos delta)) (* (* (pow (sin phi1) 2) (cos delta)) (* (pow (sin phi1) 2) (cos delta)))) (+ (cos delta) (* (pow (sin phi1) 2) (cos delta))) (- 1 (pow (sin phi1) 2)) (- (* (pow (sin phi1) 2) (cos delta))) (* (log (sin phi1)) 2) (* (log (sin phi1)) 2) (* 1 2) (pow (sin phi1) (* (cbrt 2) (cbrt 2))) (pow (sin phi1) (sqrt 2)) (pow (sin phi1) 1) (pow (* (cbrt (sin phi1)) (cbrt (sin phi1))) 2) (pow (cbrt (sin phi1)) 2) (pow (sqrt (sin phi1)) 2) (pow (sqrt (sin phi1)) 2) (pow 1 2) (pow (sin phi1) 2) (log (pow (sin phi1) 2)) (exp (pow (sin phi1) 2)) (* (cbrt (pow (sin phi1) 2)) (cbrt (pow (sin phi1) 2))) (cbrt (pow (sin phi1) 2)) (* (* (pow (sin phi1) 2) (pow (sin phi1) 2)) (pow (sin phi1) 2)) (sqrt (pow (sin phi1) 2)) (sqrt (pow (sin phi1) 2)) (pow (sin phi1) (/ 2 2)) (pow (sin phi1) (/ 2 2)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (+ (log (sin phi1)) (+ (log (cos phi1)) (+ (log (cos theta)) (log (sin delta))))) (+ (log (sin phi1)) (+ (log (cos phi1)) (log (* (cos theta) (sin delta))))) (+ (log (sin phi1)) (log (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (exp (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (* (cos theta) (cos theta)) (cos theta)) (* (* (sin delta) (sin delta)) (sin delta))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (* (cos phi1) (cos phi1)) (cos phi1)) (* (* (* (cos theta) (sin delta)) (* (cos theta) (sin delta))) (* (cos theta) (sin delta))))) (* (* (* (sin phi1) (sin phi1)) (sin phi1)) (* (* (* (cos phi1) (* (cos theta) (sin delta))) (* (cos phi1) (* (cos theta) (sin delta)))) (* (cos phi1) (* (cos theta) (sin delta))))) (* (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (* (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (cos phi1)) (* (cbrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sqrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (log (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (exp (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (* (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (* (* (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (- 1 (+ (* 1/2 (pow delta 2)) (pow phi1 2))) (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (- (cos delta) (* (pow (sin phi1) 2) (cos delta))) (- (+ (* 2/45 (pow phi1 6)) (pow phi1 2)) (* 1/3 (pow phi1 4))) (pow (sin phi1) 2) (pow (sin phi1) 2) 0 (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (+ (* (pow (sin phi1) 2) (cos delta)) (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))))) 8.314 * * [simplify]: Extracting # 0 : cost 0 8.314 * * [simplify]: Extracting # 1 : cost 0 8.315 * * [simplify]: Extracting # 2 : cost 0 8.315 * * [simplify]: Extracting # 3 : cost 0 8.315 * * [simplify]: Extracting # 4 : cost 0 8.316 * * [simplify]: Extracting # 5 : cost 0 8.316 * * [simplify]: Extracting # 6 : cost 0 8.316 * * [simplify]: Extracting # 7 : cost 0 8.317 * * [simplify]: Extracting # 8 : cost 0 8.317 * * [simplify]: Extracting # 9 : cost 0 8.317 * * [simplify]: Extracting # 10 : cost 0 8.318 * * [simplify]: Extracting # 11 : cost 0 8.318 * * [simplify]: iteration 0 : 141 enodes (cost 1174 ) 8.364 * * [simplify]: Extracting # 0 : cost 0 8.364 * * [simplify]: Extracting # 1 : cost 0 8.364 * * [simplify]: Extracting # 2 : cost 0 8.365 * * [simplify]: Extracting # 3 : cost 0 8.365 * * [simplify]: Extracting # 4 : cost 0 8.366 * * [simplify]: iteration 1 : 372 enodes (cost 1128 ) 8.600 * * [simplify]: Extracting # 0 : cost 0 8.601 * * [simplify]: Extracting # 1 : cost 0 8.603 * * [simplify]: Extracting # 2 : cost 0 8.605 * * [simplify]: Extracting # 3 : cost 0 8.606 * * [simplify]: Extracting # 4 : cost 0 8.608 * * [simplify]: iteration 2 : 1516 enodes (cost 950 ) 9.362 * * [simplify]: Extracting # 0 : cost 0 9.373 * * [simplify]: Extracting # 1 : cost 0 9.379 * * [simplify]: Extracting # 2 : cost 0 9.385 * * [simplify]: Extracting # 3 : cost 0 9.391 * * [simplify]: Extracting # 4 : cost 0 9.397 * * [simplify]: iteration done: 5001 enodes (cost 892 ) 9.397 * [simplify]: Simplified to: (exp (* (* (cos phi1) (cos phi1)) (cos delta))) (log (* (* (cos phi1) (cos phi1)) (cos delta))) (exp (* (* (cos phi1) (cos phi1)) (cos delta))) (* (cbrt (* (* (cos phi1) (cos phi1)) (cos delta))) (cbrt (* (* (cos phi1) (cos phi1)) (cos delta)))) (cbrt (* (* (cos phi1) (cos phi1)) (cos delta))) (pow (* (* (cos phi1) (cos phi1)) (cos delta)) 3) (sqrt (* (* (cos phi1) (cos phi1)) (cos delta))) (sqrt (* (* (cos phi1) (cos phi1)) (cos delta))) (- (pow (cos delta) 3) (pow (* (pow (sin phi1) 2) (cos delta)) 3)) (* (* (cos delta) (cos delta)) (+ (pow (sin phi1) 2) (+ (pow (sin phi1) 4) 1))) (- (* (pow (sin phi1) 2) (cos delta))) (* (cos delta) (- (cos delta) (* (cos delta) (pow (sin phi1) 4)))) (* (+ (pow (sin phi1) 2) 1) (cos delta)) (* (cos phi1) (cos phi1)) (- (* (pow (sin phi1) 2) (cos delta))) (* (log (sin phi1)) 2) (* (log (sin phi1)) 2) 2 (pow (sin phi1) (* (cbrt 2) (cbrt 2))) (pow (sin phi1) (sqrt 2)) (sin phi1) (pow (cbrt (sin phi1)) 4) (pow (cbrt (sin phi1)) 2) (sin phi1) (sin phi1) 1 (pow (sin phi1) 2) (* (log (sin phi1)) 2) (exp (pow (sin phi1) 2)) (* (cbrt (pow (sin phi1) 2)) (cbrt (pow (sin phi1) 2))) (cbrt (pow (sin phi1) 2)) (pow (pow (sin phi1) 2) 3) (fabs (sin phi1)) (fabs (sin phi1)) (sin phi1) (sin phi1) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (log (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (exp (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (pow (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 3) (pow (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 3) (pow (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 3) (* (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))))) (cbrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (pow (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) 3) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (sqrt (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta))))) (* (sin phi1) (cos phi1)) (* (cbrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sqrt (sin phi1)) (* (cos phi1) (* (cos theta) (sin delta)))) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (log (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))))))) (exp (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))))))) (* (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))))))) (cbrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))))))) (pow (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))))) 3) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))))))) (sqrt (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta)))))))) (- 1 (+ (* 1/2 (pow delta 2)) (pow phi1 2))) (* (* (cos phi1) (cos phi1)) (cos delta)) (* (* (cos phi1) (cos phi1)) (cos delta)) (- (+ (* 2/45 (pow phi1 6)) (pow phi1 2)) (* 1/3 (pow phi1 4))) (pow (sin phi1) 2) (pow (sin phi1) 2) 0 (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (* (sin delta) (* (cos phi1) (* (cos theta) (sin phi1)))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))))) (atan2 (* (sin delta) (* (cos phi1) (sin theta))) (- (cos delta) (* (sin phi1) (+ (* (sin phi1) (cos delta)) (* (cos phi1) (* (cos theta) (sin delta))))))) 9.398 * * * [progress]: adding candidates to table 9.804 * [progress]: [Phase 3 of 3] Extracting. 9.804 * * [regime]: Finding splitpoints for: (# # # # #) 9.810 * * * [regime-changes]: Trying 5 branch expressions: (theta delta phi2 phi1 lambda1) 9.810 * * * * [regimes]: Trying to branch on theta from (# # # # #) 9.860 * * * * [regimes]: Trying to branch on delta from (# # # # #) 9.925 * * * * [regimes]: Trying to branch on phi2 from (# # # # #) 9.970 * * * * [regimes]: Trying to branch on phi1 from (# # # # #) 10.046 * * * * [regimes]: Trying to branch on lambda1 from (# # # # #) 10.119 * * * [regime]: Found split indices: #