3.879 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 0.558 * * * [progress]: [2/2] Setting up program. 0.568 * [progress]: [Phase 2 of 3] Improving. 0.569 * [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))))))))) 0.569 * * [simplify]: Extracting # 0 : cost 0 0.569 * * [simplify]: Extracting # 1 : cost 0 0.569 * * [simplify]: Extracting # 2 : cost 0 0.569 * * [simplify]: Extracting # 3 : cost 0 0.569 * * [simplify]: Extracting # 4 : cost 0 0.569 * * [simplify]: Extracting # 5 : cost 0 0.569 * * [simplify]: Extracting # 6 : cost 0 0.569 * * [simplify]: Extracting # 7 : cost 0 0.569 * * [simplify]: Extracting # 8 : cost 0 0.569 * * [simplify]: Extracting # 9 : cost 0 0.570 * * [simplify]: Extracting # 10 : cost 0 0.570 * * [simplify]: Extracting # 11 : cost 0 0.570 * * [simplify]: Extracting # 12 : cost 0 0.570 * * [simplify]: Extracting # 13 : cost 0 0.570 * * [simplify]: Extracting # 14 : cost 0 0.570 * * [simplify]: iteration 0 : 22 enodes (cost 33 ) 0.577 * * [simplify]: Extracting # 0 : cost 0 0.577 * * [simplify]: Extracting # 1 : cost 0 0.577 * * [simplify]: Extracting # 2 : cost 0 0.577 * * [simplify]: Extracting # 3 : cost 0 0.577 * * [simplify]: Extracting # 4 : cost 0 0.577 * * [simplify]: Extracting # 5 : cost 0 0.577 * * [simplify]: Extracting # 6 : cost 0 0.577 * * [simplify]: iteration 1 : 36 enodes (cost 32 ) 0.589 * * [simplify]: Extracting # 0 : cost 0 0.589 * * [simplify]: Extracting # 1 : cost 0 0.590 * * [simplify]: Extracting # 2 : cost 0 0.590 * * [simplify]: iteration 2 : 60 enodes (cost 32 ) 0.610 * * [simplify]: Extracting # 0 : cost 0 0.610 * * [simplify]: iteration 3 : 70 enodes (cost 32 ) 0.620 * * [simplify]: Extracting # 0 : cost 0 0.620 * * [simplify]: iteration done: 70 enodes (cost 32 ) 0.620 * [simplify]: Simplified to: (+ lambda1 (atan2 (* (* (sin theta) (sin delta)) (cos phi1)) (- (cos delta) (* (sin (asin (fma (sin phi1) (cos delta) (* (* (cos phi1) (sin delta)) (cos theta))))) (sin phi1))))) 0.626 * * [progress]: iteration 1 / 4 0.626 * * * [progress]: picking best candidate 0.632 * * * * [pick]: Picked # 0.632 * * * [progress]: localizing error 0.701 * * * [progress]: generating rewritten candidates 0.701 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2) 0.710 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 2 2 2 1) 0.713 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 2) 0.728 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 0.751 * * * [progress]: generating series expansions 0.751 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2) 0.753 * [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)))) 0.753 * [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 0.753 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in theta 0.753 * [taylor]: Taking taylor expansion of (cos delta) in theta 0.753 * [taylor]: Taking taylor expansion of delta in theta 0.753 * [backup-simplify]: Simplify delta into delta 0.753 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.753 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.754 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in theta 0.754 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in theta 0.754 * [taylor]: Taking taylor expansion of (sin phi1) in theta 0.754 * [taylor]: Taking taylor expansion of phi1 in theta 0.754 * [backup-simplify]: Simplify phi1 into phi1 0.754 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.754 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.754 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in theta 0.754 * [taylor]: Taking taylor expansion of (cos phi1) in theta 0.754 * [taylor]: Taking taylor expansion of phi1 in theta 0.754 * [backup-simplify]: Simplify phi1 into phi1 0.754 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.754 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.754 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in theta 0.754 * [taylor]: Taking taylor expansion of (cos theta) in theta 0.754 * [taylor]: Taking taylor expansion of theta in theta 0.754 * [backup-simplify]: Simplify 0 into 0 0.754 * [backup-simplify]: Simplify 1 into 1 0.754 * [taylor]: Taking taylor expansion of (sin delta) in theta 0.754 * [taylor]: Taking taylor expansion of delta in theta 0.754 * [backup-simplify]: Simplify delta into delta 0.754 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.754 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.754 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in theta 0.754 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in theta 0.754 * [taylor]: Taking taylor expansion of (sin phi1) in theta 0.754 * [taylor]: Taking taylor expansion of phi1 in theta 0.754 * [backup-simplify]: Simplify phi1 into phi1 0.755 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.755 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.755 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.755 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.755 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.755 * [taylor]: Taking taylor expansion of (cos delta) in theta 0.755 * [taylor]: Taking taylor expansion of delta in theta 0.755 * [backup-simplify]: Simplify delta into delta 0.755 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.755 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.755 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in phi1 0.755 * [taylor]: Taking taylor expansion of (cos delta) in phi1 0.755 * [taylor]: Taking taylor expansion of delta in phi1 0.755 * [backup-simplify]: Simplify delta into delta 0.756 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.756 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.756 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in phi1 0.756 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in phi1 0.756 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.756 * [taylor]: Taking taylor expansion of phi1 in phi1 0.756 * [backup-simplify]: Simplify 0 into 0 0.756 * [backup-simplify]: Simplify 1 into 1 0.756 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in phi1 0.756 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 0.756 * [taylor]: Taking taylor expansion of phi1 in phi1 0.756 * [backup-simplify]: Simplify 0 into 0 0.756 * [backup-simplify]: Simplify 1 into 1 0.756 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in phi1 0.756 * [taylor]: Taking taylor expansion of (cos theta) in phi1 0.756 * [taylor]: Taking taylor expansion of theta in phi1 0.756 * [backup-simplify]: Simplify theta into theta 0.756 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.756 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.756 * [taylor]: Taking taylor expansion of (sin delta) in phi1 0.756 * [taylor]: Taking taylor expansion of delta in phi1 0.756 * [backup-simplify]: Simplify delta into delta 0.756 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.756 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.756 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in phi1 0.756 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 0.756 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.756 * [taylor]: Taking taylor expansion of phi1 in phi1 0.756 * [backup-simplify]: Simplify 0 into 0 0.756 * [backup-simplify]: Simplify 1 into 1 0.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.758 * [taylor]: Taking taylor expansion of (cos delta) in phi1 0.758 * [taylor]: Taking taylor expansion of delta in phi1 0.758 * [backup-simplify]: Simplify delta into delta 0.758 * [backup-simplify]: Simplify (cos delta) into (cos delta) 0.758 * [backup-simplify]: Simplify (sin delta) into (sin delta) 0.758 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 0.758 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.758 * [taylor]: Taking taylor expansion of delta in delta 0.758 * [backup-simplify]: Simplify 0 into 0 0.758 * [backup-simplify]: Simplify 1 into 1 0.758 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 0.758 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 0.758 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.758 * [taylor]: Taking taylor expansion of phi1 in delta 0.758 * [backup-simplify]: Simplify phi1 into phi1 0.758 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.758 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.758 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 0.758 * [taylor]: Taking taylor expansion of (cos phi1) in delta 0.758 * [taylor]: Taking taylor expansion of phi1 in delta 0.758 * [backup-simplify]: Simplify phi1 into phi1 0.758 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.758 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.758 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 0.758 * [taylor]: Taking taylor expansion of (cos theta) in delta 0.758 * [taylor]: Taking taylor expansion of theta in delta 0.758 * [backup-simplify]: Simplify theta into theta 0.759 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.759 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.759 * [taylor]: Taking taylor expansion of (sin delta) in delta 0.759 * [taylor]: Taking taylor expansion of delta in delta 0.759 * [backup-simplify]: Simplify 0 into 0 0.759 * [backup-simplify]: Simplify 1 into 1 0.759 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 0.759 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 0.759 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.759 * [taylor]: Taking taylor expansion of phi1 in delta 0.759 * [backup-simplify]: Simplify phi1 into phi1 0.759 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.759 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.759 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.759 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.759 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.759 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.759 * [taylor]: Taking taylor expansion of delta in delta 0.759 * [backup-simplify]: Simplify 0 into 0 0.759 * [backup-simplify]: Simplify 1 into 1 0.759 * [taylor]: Taking taylor expansion of (- (cos delta) (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta)))) in delta 0.759 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.759 * [taylor]: Taking taylor expansion of delta in delta 0.759 * [backup-simplify]: Simplify 0 into 0 0.759 * [backup-simplify]: Simplify 1 into 1 0.760 * [taylor]: Taking taylor expansion of (+ (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) (* (pow (sin phi1) 2) (cos delta))) in delta 0.760 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (* (cos theta) (sin delta)))) in delta 0.760 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.760 * [taylor]: Taking taylor expansion of phi1 in delta 0.760 * [backup-simplify]: Simplify phi1 into phi1 0.760 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.760 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.760 * [taylor]: Taking taylor expansion of (* (cos phi1) (* (cos theta) (sin delta))) in delta 0.760 * [taylor]: Taking taylor expansion of (cos phi1) in delta 0.760 * [taylor]: Taking taylor expansion of phi1 in delta 0.760 * [backup-simplify]: Simplify phi1 into phi1 0.760 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.760 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.760 * [taylor]: Taking taylor expansion of (* (cos theta) (sin delta)) in delta 0.760 * [taylor]: Taking taylor expansion of (cos theta) in delta 0.760 * [taylor]: Taking taylor expansion of theta in delta 0.760 * [backup-simplify]: Simplify theta into theta 0.760 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.760 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.760 * [taylor]: Taking taylor expansion of (sin delta) in delta 0.760 * [taylor]: Taking taylor expansion of delta in delta 0.760 * [backup-simplify]: Simplify 0 into 0 0.760 * [backup-simplify]: Simplify 1 into 1 0.760 * [taylor]: Taking taylor expansion of (* (pow (sin phi1) 2) (cos delta)) in delta 0.760 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in delta 0.760 * [taylor]: Taking taylor expansion of (sin phi1) in delta 0.760 * [taylor]: Taking taylor expansion of phi1 in delta 0.760 * [backup-simplify]: Simplify phi1 into phi1 0.760 * [backup-simplify]: Simplify (sin phi1) into (sin phi1) 0.760 * [backup-simplify]: Simplify (cos phi1) into (cos phi1) 0.761 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.761 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.761 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.761 * [taylor]: Taking taylor expansion of (cos delta) in delta 0.761 * [taylor]: Taking taylor expansion of delta in delta 0.761 * [backup-simplify]: Simplify 0 into 0 0.761 * [backup-simplify]: Simplify 1 into 1 0.761 * [backup-simplify]: Simplify (* (sin phi1) 1) into (sin phi1) 0.761 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.761 * [backup-simplify]: Simplify (+ (sin phi1) 0) into (sin phi1) 0.761 * [backup-simplify]: Simplify (* (cos phi1) 1) into (cos phi1) 0.762 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 0.762 * [backup-simplify]: Simplify (- 0) into 0 0.762 * [backup-simplify]: Simplify (+ (cos phi1) 0) into (cos phi1) 0.762 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 0.762 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 0.763 * [backup-simplify]: Simplify (- 0) into 0 0.763 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 0.763 * [backup-simplify]: Simplify (* (cos theta) 0) into 0 0.763 * [backup-simplify]: Simplify (* (cos phi1) 0) into 0 0.763 * [backup-simplify]: Simplify (* (sin phi1) 0) into 0 0.763 * [backup-simplify]: Simplify (* (sin phi1) (sin phi1)) into (pow (sin phi1) 2) 0.763 * [backup-simplify]: Simplify (* (pow (sin phi1) 2) 1) into (pow (sin phi1) 2) 0.764 * [backup-simplify]: Simplify (+ 0 (pow (sin phi1) 2)) into (pow (sin phi1) 2) 0.764 * [backup-simplify]: Simplify (- (pow (sin phi1) 2)) into (- (pow (sin phi1) 2)) 0.764 * [backup-simplify]: Simplify (+ 1 (- (pow (sin phi1) 2))) into (- 1 (pow (sin phi1) 2)) 0.764 * [taylor]: Taking taylor expansion of (- 1 (pow (sin phi1) 2)) in phi1 0.764 * [taylor]: Taking taylor expansion of 1 in phi1 0.764 * [backup-simplify]: Simplify 1 into 1 0.764 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 0.764 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.764 * [taylor]: Taking taylor expansion of phi1 in phi1 0.764 * [backup-simplify]: Simplify 0 into 0 0.764 * [backup-simplify]: Simplify 1 into 1 0.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.766 * [backup-simplify]: Simplify (+ 1 0) into 1 0.766 * [taylor]: Taking taylor expansion of 1 in theta 0.766 * [backup-simplify]: Simplify 1 into 1 0.766 * [backup-simplify]: Simplify 1 into 1 0.766 * [backup-simplify]: Simplify (+ 0) into 0 0.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.768 * [backup-simplify]: Simplify (+ 0) into 0 0.768 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 0.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.769 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 0.770 * [backup-simplify]: Simplify (- 0) into 0 0.770 * [backup-simplify]: Simplify (+ 0 0) into 0 0.770 * [backup-simplify]: Simplify (+ (* (cos theta) 1) (* 0 0)) into (cos theta) 0.771 * [backup-simplify]: Simplify (+ 0) into 0 0.771 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 1)) into 0 0.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.772 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 0)) into 0 0.772 * [backup-simplify]: Simplify (- 0) into 0 0.772 * [backup-simplify]: Simplify (+ 0 0) into 0 0.773 * [backup-simplify]: Simplify (+ (* (cos phi1) (cos theta)) (* 0 0)) into (* (cos phi1) (cos theta)) 0.773 * [backup-simplify]: Simplify (+ 0) into 0 0.773 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 0.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.774 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 0.774 * [backup-simplify]: Simplify (+ 0 0) into 0 0.775 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) (* 0 0)) into (* (sin phi1) (* (cos phi1) (cos theta))) 0.775 * [backup-simplify]: Simplify (+ 0) into 0 0.775 * [backup-simplify]: Simplify (+ 0) into 0 0.775 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 1)) into 0 0.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.776 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (* 0 0)) into 0 0.776 * [backup-simplify]: Simplify (+ 0 0) into 0 0.777 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (* 0 (sin phi1))) into 0 0.777 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) 0) (* 0 1)) into 0 0.777 * [backup-simplify]: Simplify (+ (* (sin phi1) (* (cos phi1) (cos theta))) 0) into (* (sin phi1) (* (cos phi1) (cos theta))) 0.777 * [backup-simplify]: Simplify (- (* (sin phi1) (* (cos phi1) (cos theta)))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 0.777 * [backup-simplify]: Simplify (+ 0 (- (* (sin phi1) (* (cos phi1) (cos theta))))) into (- (* (sin phi1) (* (cos phi1) (cos theta)))) 0.777 * [taylor]: Taking taylor expansion of (- (* (sin phi1) (* (cos phi1) (cos theta)))) in phi1 0.777 * [taylor]: Taking taylor expansion of (* (sin phi1) (* (cos phi1) (cos theta))) in phi1 0.777 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.778 * [taylor]: Taking taylor expansion of phi1 in phi1 0.778 * [backup-simplify]: Simplify 0 into 0 0.778 * [backup-simplify]: Simplify 1 into 1 0.778 * [taylor]: Taking taylor expansion of (* (cos phi1) (cos theta)) in phi1 0.778 * [taylor]: Taking taylor expansion of (cos phi1) in phi1 0.778 * [taylor]: Taking taylor expansion of phi1 in phi1 0.778 * [backup-simplify]: Simplify 0 into 0 0.778 * [backup-simplify]: Simplify 1 into 1 0.778 * [taylor]: Taking taylor expansion of (cos theta) in phi1 0.778 * [taylor]: Taking taylor expansion of theta in phi1 0.778 * [backup-simplify]: Simplify theta into theta 0.778 * [backup-simplify]: Simplify (cos theta) into (cos theta) 0.778 * [backup-simplify]: Simplify (sin theta) into (sin theta) 0.778 * [backup-simplify]: Simplify (* (cos theta) 1) into (cos theta) 0.778 * [backup-simplify]: Simplify (* (sin theta) 0) into 0 0.778 * [backup-simplify]: Simplify (- 0) into 0 0.778 * [backup-simplify]: Simplify (+ (cos theta) 0) into (cos theta) 0.778 * [backup-simplify]: Simplify (* 1 (cos theta)) into (cos theta) 0.778 * [backup-simplify]: Simplify (* 0 (cos theta)) into 0 0.779 * [backup-simplify]: Simplify (- 0) into 0 0.779 * [taylor]: Taking taylor expansion of 0 in theta 0.779 * [backup-simplify]: Simplify 0 into 0 0.779 * [backup-simplify]: Simplify 0 into 0 0.779 * [backup-simplify]: Simplify (+ 0 0) into 0 0.779 * [taylor]: Taking taylor expansion of 0 in theta 0.779 * [backup-simplify]: Simplify 0 into 0 0.779 * [backup-simplify]: Simplify 0 into 0 0.779 * [backup-simplify]: Simplify 0 into 0 0.780 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 0.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.781 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 0) (* 0 1))) into 0 0.782 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.782 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (+ (* 0 0) (* 0 0))) into 0 0.783 * [backup-simplify]: Simplify (- 0) into 0 0.783 * [backup-simplify]: Simplify (+ 0 0) into 0 0.783 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (+ (* 0 1) (* 0 0))) into 0 0.784 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.784 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 1))) into 0 0.785 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.785 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 0))) into 0 0.785 * [backup-simplify]: Simplify (- 0) into 0 0.786 * [backup-simplify]: Simplify (+ 0 0) into 0 0.786 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 (cos theta)) (* 0 0))) into 0 0.787 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.787 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 0.788 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.788 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 0.788 * [backup-simplify]: Simplify (+ 0 0) into 0 0.788 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 (* (cos phi1) (cos theta))) (* 0 0))) into 0 0.789 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 1 2) 2)) 0) into -1/2 0.790 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.790 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 1))) into 0 0.790 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.791 * [backup-simplify]: Simplify (+ (* (cos phi1) 0) (+ (* 0 0) (* 0 0))) into 0 0.791 * [backup-simplify]: Simplify (+ 0 0) into 0 0.791 * [backup-simplify]: Simplify (+ (* (sin phi1) 0) (+ (* 0 0) (* 0 (sin phi1)))) into 0 0.792 * [backup-simplify]: Simplify (+ (* (pow (sin phi1) 2) -1/2) (+ (* 0 0) (* 0 1))) into (- (* 1/2 (pow (sin phi1) 2))) 0.792 * [backup-simplify]: Simplify (+ 0 (- (* 1/2 (pow (sin phi1) 2)))) into (- (* 1/2 (pow (sin phi1) 2))) 0.792 * [backup-simplify]: Simplify (- (- (* 1/2 (pow (sin phi1) 2)))) into (* 1/2 (pow (sin phi1) 2)) 0.792 * [backup-simplify]: Simplify (+ -1/2 (* 1/2 (pow (sin phi1) 2))) into (- (* 1/2 (pow (sin phi1) 2)) 1/2) 0.792 * [taylor]: Taking taylor expansion of (- (* 1/2 (pow (sin phi1) 2)) 1/2) in phi1 0.792 * [taylor]: Taking taylor expansion of (* 1/2 (pow (sin phi1) 2)) in phi1 0.792 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.792 * [backup-simplify]: Simplify 1/2 into 1/2 0.792 * [taylor]: Taking taylor expansion of (pow (sin phi1) 2) in phi1 0.792 * [taylor]: Taking taylor expansion of (sin phi1) in phi1 0.792 * [taylor]: Taking taylor expansion of phi1 in phi1 0.793 * [backup-simplify]: Simplify 0 into 0 0.793 * [backup-simplify]: Simplify 1 into 1 0.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.793 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.793 * [backup-simplify]: Simplify 1/2 into 1/2 0.793 * [backup-simplify]: Simplify (- 1/2) into -1/2 0.794 * [backup-simplify]: Simplify (+ 0 -1/2) into -1/2 0.794 * [taylor]: Taking taylor expansion of -1/2 in theta 0.794 * [backup-simplify]: Simplify -1/2 into -1/2 0.794 * [backup-simplify]: Simplify -1/2 into -1/2 0.794 * [backup-simplify]: Simplify (+ 0) into 0 0.794 * [backup-simplify]: Simplify (+ (* (cos theta) 0) (* 0 1)) into 0 0.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.795 * [backup-simplify]: Simplify (+ (* (sin theta) 0) (* 0 0)) into 0 0.795 * [backup-simplify]: Simplify (- 0) into 0 0.795 * [backup-simplify]: Simplify (+ 0 0) into 0 0.796 * [backup-simplify]: Simplify (+ 0) into 0 0.796 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos theta))) into 0 0.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 1 1) 1))) into 1 0.797 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos theta))) into (cos theta) 0.797 * [backup-simplify]: Simplify (- (cos theta)) into (- (cos theta)) 0.797 * [taylor]: Taking taylor expansion of (- (cos theta)) in theta 0.797 * [taylor]: Taking taylor expansion of (cos theta) in theta 0.797 * [taylor]: Taking taylor expansion of theta in theta 0.797 * [backup-simplify]: Simplify 0 into 0 0.797 * [backup-simplify]: Simplify 1 into 1 0.797 * [backup-simplify]: Simplify (- 1) into -1 0.797 * [backup-simplify]: Simplify -1 into -1