3.546 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 0.598 * * * [progress]: [2/2] Setting up program. 0.611 * [progress]: [Phase 2 of 3] Improving. 0.611 * [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))))))))) 0.611 * * [simplify]: Extracting # 0 : cost 0 0.612 * * [simplify]: Extracting # 1 : cost 0 0.612 * * [simplify]: Extracting # 2 : cost 0 0.612 * * [simplify]: Extracting # 3 : cost 0 0.612 * * [simplify]: Extracting # 4 : cost 0 0.612 * * [simplify]: Extracting # 5 : cost 0 0.612 * * [simplify]: Extracting # 6 : cost 0 0.612 * * [simplify]: Extracting # 7 : cost 0 0.612 * * [simplify]: Extracting # 8 : cost 0 0.612 * * [simplify]: Extracting # 9 : cost 0 0.612 * * [simplify]: Extracting # 10 : cost 0 0.612 * * [simplify]: Extracting # 11 : cost 0 0.612 * * [simplify]: Extracting # 12 : cost 0 0.612 * * [simplify]: Extracting # 13 : cost 0 0.612 * * [simplify]: Extracting # 14 : cost 0 0.612 * * [simplify]: iteration 0 : 22 enodes (cost 33 ) 0.619 * * [simplify]: Extracting # 0 : cost 0 0.619 * * [simplify]: Extracting # 1 : cost 0 0.619 * * [simplify]: Extracting # 2 : cost 0 0.619 * * [simplify]: iteration 1 : 35 enodes (cost 33 ) 0.633 * * [simplify]: Extracting # 0 : cost 0 0.633 * * [simplify]: Extracting # 1 : cost 0 0.633 * * [simplify]: Extracting # 2 : cost 0 0.633 * * [simplify]: iteration 2 : 55 enodes (cost 33 ) 0.651 * * [simplify]: Extracting # 0 : cost 0 0.652 * * [simplify]: iteration 3 : 58 enodes (cost 33 ) 0.668 * * [simplify]: Extracting # 0 : cost 0 0.669 * * [simplify]: iteration done: 58 enodes (cost 33 ) 0.669 * [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))))))))) 0.669 * * [progress]: iteration 1 / 4 0.669 * * * [progress]: picking best candidate 0.679 * * * * [pick]: Picked # 0.679 * * * [progress]: localizing error 0.788 * * * [progress]: generating rewritten candidates 0.788 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2) 0.803 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 2 2 2 1) 0.807 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 2) 0.837 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 0.862 * * * [progress]: generating series expansions 0.862 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2) 0.862 * [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)))) 0.862 * [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 0.863 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in theta 0.863 * [taylor]: Taking taylor expansion of (cos delta) in theta 0.863 * [taylor]: Taking taylor expansion of delta in theta 0.863 * [backup-simplify]: Simplify delta into delta 0.863 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.863 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.863 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in theta 0.863 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in theta 0.863 * [taylor]: Taking taylor expansion of (sin phi1) in theta 0.863 * [taylor]: Taking taylor expansion of phi1 in theta 0.863 * [backup-simplify]: Simplify phi1 into phi1 0.863 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.863 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.863 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in theta 0.863 * [taylor]: Taking taylor expansion of (cos phi1) in theta 0.863 * [taylor]: Taking taylor expansion of phi1 in theta 0.863 * [backup-simplify]: Simplify phi1 into phi1 0.863 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.863 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.863 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 0.863 * [taylor]: Taking taylor expansion of (cos theta) in theta 0.863 * [taylor]: Taking taylor expansion of theta in theta 0.863 * [backup-simplify]: Simplify 0 into 0 0.863 * [backup-simplify]: Simplify 1 into 1 0.863 * [taylor]: Taking taylor expansion of (sin delta) in theta 0.863 * [taylor]: Taking taylor expansion of delta in theta 0.863 * [backup-simplify]: Simplify delta into delta 0.863 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.863 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.863 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in theta 0.863 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in theta 0.863 * [taylor]: Taking taylor expansion of (sin phi1) in theta 0.863 * [taylor]: Taking taylor expansion of phi1 in theta 0.863 * [backup-simplify]: Simplify phi1 into phi1 0.863 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.864 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.864 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.864 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.864 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.864 * [taylor]: Taking taylor expansion of (cos delta) in theta 0.864 * [taylor]: Taking taylor expansion of delta in theta 0.864 * [backup-simplify]: Simplify delta into delta 0.864 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.864 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.864 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in phi1 0.864 * [taylor]: Taking taylor expansion of (cos delta) in phi1 0.864 * [taylor]: Taking taylor expansion of delta in phi1 0.864 * [backup-simplify]: Simplify delta into delta 0.864 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.864 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.864 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in phi1 0.864 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 0.864 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.864 * [taylor]: Taking taylor expansion of phi1 in phi1 0.864 * [backup-simplify]: Simplify 0 into 0 0.864 * [backup-simplify]: Simplify 1 into 1 0.864 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 0.864 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 0.864 * [taylor]: Taking taylor expansion of phi1 in phi1 0.864 * [backup-simplify]: Simplify 0 into 0 0.864 * [backup-simplify]: Simplify 1 into 1 0.864 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 0.864 * [taylor]: Taking taylor expansion of (cos theta) in phi1 0.865 * [taylor]: Taking taylor expansion of theta in phi1 0.865 * [backup-simplify]: Simplify theta into theta 0.865 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.865 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.865 * [taylor]: Taking taylor expansion of (sin delta) in phi1 0.865 * [taylor]: Taking taylor expansion of delta in phi1 0.865 * [backup-simplify]: Simplify delta into delta 0.865 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.865 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.865 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in phi1 0.865 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 0.865 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.865 * [taylor]: Taking taylor expansion of phi1 in phi1 0.865 * [backup-simplify]: Simplify 0 into 0 0.865 * [backup-simplify]: Simplify 1 into 1 0.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.866 * [taylor]: Taking taylor expansion of (cos delta) in phi1 0.866 * [taylor]: Taking taylor expansion of delta in phi1 0.866 * [backup-simplify]: Simplify delta into delta 0.866 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.866 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.866 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 0.866 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.866 * [taylor]: Taking taylor expansion of delta in delta 0.866 * [backup-simplify]: Simplify 0 into 0 0.866 * [backup-simplify]: Simplify 1 into 1 0.866 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 0.866 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 0.866 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.866 * [taylor]: Taking taylor expansion of phi1 in delta 0.866 * [backup-simplify]: Simplify phi1 into phi1 0.866 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.866 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.866 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 0.866 * [taylor]: Taking taylor expansion of (cos phi1) in delta 0.866 * [taylor]: Taking taylor expansion of phi1 in delta 0.866 * [backup-simplify]: Simplify phi1 into phi1 0.866 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.866 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.867 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 0.867 * [taylor]: Taking taylor expansion of (cos theta) in delta 0.867 * [taylor]: Taking taylor expansion of theta in delta 0.867 * [backup-simplify]: Simplify theta into theta 0.867 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.867 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.867 * [taylor]: Taking taylor expansion of (sin delta) in delta 0.867 * [taylor]: Taking taylor expansion of delta in delta 0.867 * [backup-simplify]: Simplify 0 into 0 0.867 * [backup-simplify]: Simplify 1 into 1 0.867 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 0.867 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 0.867 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.867 * [taylor]: Taking taylor expansion of phi1 in delta 0.867 * [backup-simplify]: Simplify phi1 into phi1 0.867 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.867 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.867 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.867 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.867 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.867 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.867 * [taylor]: Taking taylor expansion of delta in delta 0.867 * [backup-simplify]: Simplify 0 into 0 0.867 * [backup-simplify]: Simplify 1 into 1 0.867 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 0.867 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.867 * [taylor]: Taking taylor expansion of delta in delta 0.867 * [backup-simplify]: Simplify 0 into 0 0.867 * [backup-simplify]: Simplify 1 into 1 0.867 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 0.867 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 0.867 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.867 * [taylor]: Taking taylor expansion of phi1 in delta 0.867 * [backup-simplify]: Simplify phi1 into phi1 0.867 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.867 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.867 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 0.867 * [taylor]: Taking taylor expansion of (cos phi1) in delta 0.867 * [taylor]: Taking taylor expansion of phi1 in delta 0.867 * [backup-simplify]: Simplify phi1 into phi1 0.868 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.868 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.868 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 0.868 * [taylor]: Taking taylor expansion of (cos theta) in delta 0.868 * [taylor]: Taking taylor expansion of theta in delta 0.868 * [backup-simplify]: Simplify theta into theta 0.868 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.868 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.868 * [taylor]: Taking taylor expansion of (sin delta) in delta 0.868 * [taylor]: Taking taylor expansion of delta in delta 0.868 * [backup-simplify]: Simplify 0 into 0 0.868 * [backup-simplify]: Simplify 1 into 1 0.868 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 0.868 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 0.868 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.868 * [taylor]: Taking taylor expansion of phi1 in delta 0.868 * [backup-simplify]: Simplify phi1 into phi1 0.868 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.868 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.868 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.868 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.868 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.868 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.868 * [taylor]: Taking taylor expansion of delta in delta 0.868 * [backup-simplify]: Simplify 0 into 0 0.868 * [backup-simplify]: Simplify 1 into 1 0.868 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.869 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.869 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.869 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 0.869 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 0.869 * [backup-simplify]: Simplify (- 0) into 0 0.869 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 0.869 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 0.869 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 0.870 * [backup-simplify]: Simplify (- 0) into 0 0.870 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 0.870 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 0.870 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.870 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 0.870 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 0.870 * [backup-simplify]: Simplify (* (pow (sin phi1) 2) 1) into (pow (sin phi1) 2) 0.870 * [backup-simplify]: Simplify (+ 0 (pow (sin phi1) 2)) into (pow (sin phi1) 2) 0.870 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 0.870 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 0.871 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 0.871 * [taylor]: Taking taylor expansion of 1 in phi1 0.871 * [backup-simplify]: Simplify 1 into 1 0.871 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 0.871 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.871 * [taylor]: Taking taylor expansion of phi1 in phi1 0.871 * [backup-simplify]: Simplify 0 into 0 0.871 * [backup-simplify]: Simplify 1 into 1 0.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.871 * [backup-simplify]: Simplify (+ 1 0) into 1 0.871 * [taylor]: Taking taylor expansion of 1 in theta 0.872 * [backup-simplify]: Simplify 1 into 1 0.872 * [backup-simplify]: Simplify 1 into 1 0.872 * [backup-simplify]: Simplify (+ 0) into 0 0.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.873 * [backup-simplify]: Simplify (+ 0) into 0 0.873 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 0.874 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.874 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 0.881 * [backup-simplify]: Simplify (- 0) into 0 0.882 * [backup-simplify]: Simplify (+ 0 0) into 0 0.882 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 0.882 * [backup-simplify]: Simplify (+ 0) into 0 0.883 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 0.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.884 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 0.884 * [backup-simplify]: Simplify (- 0) into 0 0.884 * [backup-simplify]: Simplify (+ 0 0) into 0 0.884 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) (* 0 0)) into (* (cos phi1) (cos theta)) 0.885 * [backup-simplify]: Simplify (+ 0) into 0 0.885 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 0.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.886 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 0.886 * [backup-simplify]: Simplify (+ 0 0) into 0 0.886 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 0)) into (* (sin phi1) (* (cos phi1) (cos theta))) 0.886 * [backup-simplify]: Simplify (+ 0) into 0 0.887 * [backup-simplify]: Simplify (+ 0) into 0 0.887 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 0.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.888 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 0.888 * [backup-simplify]: Simplify (+ 0 0) into 0 0.888 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (sin phi1))) into 0 0.888 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) 0) (* 0 1)) into 0 0.889 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) 0) into (* (sin phi1) (* (cos phi1) (cos theta))) 0.889 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 0.889 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 0.889 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 0.889 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 0.889 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.889 * [taylor]: Taking taylor expansion of phi1 in phi1 0.889 * [backup-simplify]: Simplify 0 into 0 0.889 * [backup-simplify]: Simplify 1 into 1 0.889 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 0.889 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 0.889 * [taylor]: Taking taylor expansion of phi1 in phi1 0.889 * [backup-simplify]: Simplify 0 into 0 0.889 * [backup-simplify]: Simplify 1 into 1 0.889 * [taylor]: Taking taylor expansion of (cos theta) in phi1 0.889 * [taylor]: Taking taylor expansion of theta in phi1 0.889 * [backup-simplify]: Simplify theta into theta 0.889 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.889 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.889 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 0.889 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 0.890 * [backup-simplify]: Simplify (- 0) into 0 0.890 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 0.890 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 0.890 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 0.890 * [backup-simplify]: Simplify (- 0) into 0 0.890 * [taylor]: Taking taylor expansion of 0 in theta 0.890 * [backup-simplify]: Simplify 0 into 0 0.890 * [backup-simplify]: Simplify 0 into 0 0.890 * [backup-simplify]: Simplify (+ 0 0) into 0 0.890 * [taylor]: Taking taylor expansion of 0 in theta 0.890 * [backup-simplify]: Simplify 0 into 0 0.890 * [backup-simplify]: Simplify 0 into 0 0.890 * [backup-simplify]: Simplify 0 into 0 0.892 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 0.893 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.894 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 0.894 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.894 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 0.895 * [backup-simplify]: Simplify (- 0) into 0 0.895 * [backup-simplify]: Simplify (+ 0 0) into 0 0.895 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 1) (* 0 0))) into 0 0.896 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.896 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 0.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.897 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 0.897 * [backup-simplify]: Simplify (- 0) into 0 0.898 * [backup-simplify]: Simplify (+ 0 0) into 0 0.898 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 (cos theta)) (* 0 0))) into 0 0.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.900 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 0.900 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.901 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 0.901 * [backup-simplify]: Simplify (+ 0 0) into 0 0.902 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 0))) into 0 0.903 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 0.904 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.905 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 0.906 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.906 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 0.907 * [backup-simplify]: Simplify (+ 0 0) into 0 0.907 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (sin phi1)))) into 0 0.908 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (pow (sin phi1) 2))) 0.908 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (pow (sin phi1) 2)))) into (- (* 1/2 (pow (sin phi1) 2))) 0.909 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 0.909 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 0.909 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 0.909 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 0.909 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.909 * [backup-simplify]: Simplify 1/2 into 1/2 0.909 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 0.909 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.909 * [taylor]: Taking taylor expansion of phi1 in phi1 0.909 * [backup-simplify]: Simplify 0 into 0 0.909 * [backup-simplify]: Simplify 1 into 1 0.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.910 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.910 * [backup-simplify]: Simplify 1/2 into 1/2 0.910 * [backup-simplify]: Simplify (- 1/2) into -1/2 0.911 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 0.911 * [taylor]: Taking taylor expansion of -1/2 in theta 0.911 * [backup-simplify]: Simplify -1/2 into -1/2 0.911 * [backup-simplify]: Simplify -1/2 into -1/2 0.911 * [backup-simplify]: Simplify (+ 0) into 0 0.912 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 0.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.913 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 0.913 * [backup-simplify]: Simplify (- 0) into 0 0.913 * [backup-simplify]: Simplify (+ 0 0) into 0 0.914 * [backup-simplify]: Simplify (+ 0) into 0 0.914 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 0.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.915 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 0.915 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 0.915 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 0.915 * [taylor]: Taking taylor expansion of (cos theta) in theta 0.916 * [taylor]: Taking taylor expansion of theta in theta 0.916 * [backup-simplify]: Simplify 0 into 0 0.916 * [backup-simplify]: Simplify 1 into 1 0.916 * [backup-simplify]: Simplify (- 1) into -1 0.916 * [backup-simplify]: Simplify -1 into -1