7.308 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 0.105 * * * [progress]: [2/2] Setting up program. 0.109 * [progress]: [Phase 2 of 3] Improving. 0.109 * [simplify]: Simplifying: (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 0.109 * [simplify]: Sending expressions to egg_math: (* h5 (sqrt (+ (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h1 h0) (- h1 h0))))) 0.153 * * [progress]: iteration 1 / 4 0.153 * * * [progress]: picking best candidate 0.156 * * * * [pick]: Picked # 0.156 * * * [progress]: localizing error 0.177 * * * [progress]: generating rewritten candidates 0.177 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 0.303 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2) 0.314 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2) 0.326 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 0.416 * * * [progress]: generating series expansions 0.416 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 0.416 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 0.416 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 0.416 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 0.416 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 0.416 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 0.416 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 0.416 * [taylor]: Taking taylor expansion of phi2 in phi2 0.416 * [backup-simplify]: Simplify 0 into 0 0.416 * [backup-simplify]: Simplify 1 into 1 0.416 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 0.417 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 0.417 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 0.417 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.417 * [backup-simplify]: Simplify lambda2 into lambda2 0.417 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.417 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.417 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.417 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.417 * [backup-simplify]: Simplify 0.5 into 0.5 0.417 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.417 * [taylor]: Taking taylor expansion of phi2 in phi2 0.417 * [backup-simplify]: Simplify 0 into 0 0.417 * [backup-simplify]: Simplify 1 into 1 0.417 * [taylor]: Taking taylor expansion of phi1 in phi2 0.417 * [backup-simplify]: Simplify phi1 into phi1 0.417 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.417 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.417 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.417 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.417 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.417 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.417 * [backup-simplify]: Simplify (- 0) into 0 0.418 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.418 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 0.418 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 0.418 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.418 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.418 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.418 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.418 * [backup-simplify]: Simplify 0.5 into 0.5 0.418 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.418 * [taylor]: Taking taylor expansion of phi2 in phi2 0.418 * [backup-simplify]: Simplify 0 into 0 0.418 * [backup-simplify]: Simplify 1 into 1 0.418 * [taylor]: Taking taylor expansion of phi1 in phi2 0.418 * [backup-simplify]: Simplify phi1 into phi1 0.418 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.418 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.418 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.418 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.418 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.418 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.418 * [backup-simplify]: Simplify (- 0) into 0 0.418 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.418 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 0.418 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.418 * [backup-simplify]: Simplify lambda1 into lambda1 0.418 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 0.418 * [taylor]: Taking taylor expansion of phi1 in phi2 0.418 * [backup-simplify]: Simplify phi1 into phi1 0.419 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 0.419 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 0.419 * [taylor]: Taking taylor expansion of 2 in phi2 0.419 * [backup-simplify]: Simplify 2 into 2 0.419 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 0.419 * [taylor]: Taking taylor expansion of phi2 in phi2 0.419 * [backup-simplify]: Simplify 0 into 0 0.419 * [backup-simplify]: Simplify 1 into 1 0.419 * [taylor]: Taking taylor expansion of phi1 in phi2 0.419 * [backup-simplify]: Simplify phi1 into phi1 0.419 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 0.419 * [taylor]: Taking taylor expansion of 2 in phi2 0.419 * [backup-simplify]: Simplify 2 into 2 0.419 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 0.419 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.419 * [backup-simplify]: Simplify lambda2 into lambda2 0.419 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 0.419 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.419 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.419 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.419 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.419 * [backup-simplify]: Simplify 0.5 into 0.5 0.419 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.419 * [taylor]: Taking taylor expansion of phi2 in phi2 0.419 * [backup-simplify]: Simplify 0 into 0 0.419 * [backup-simplify]: Simplify 1 into 1 0.419 * [taylor]: Taking taylor expansion of phi1 in phi2 0.419 * [backup-simplify]: Simplify phi1 into phi1 0.419 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.419 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.419 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.419 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.419 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.419 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.419 * [backup-simplify]: Simplify (- 0) into 0 0.419 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.420 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.420 * [backup-simplify]: Simplify lambda1 into lambda1 0.420 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.420 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 0.420 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 0.420 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 0.420 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.420 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0.420 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.420 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0.421 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 0.421 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 0.421 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.422 * [backup-simplify]: Simplify (* 2 0) into 0 0.422 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 0.422 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 0.422 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 0.422 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 0.422 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 0.423 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 0.423 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 0.424 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 0.424 * [backup-simplify]: Simplify (+ 0) into 0 0.425 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 0.425 * [backup-simplify]: Simplify (+ 1 0) into 1 0.425 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 0.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.427 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 0.427 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.427 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.428 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0.428 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.428 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 0.428 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 0.428 * [backup-simplify]: Simplify (+ 0) into 0 0.429 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 0.429 * [backup-simplify]: Simplify (+ 1 0) into 1 0.429 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 0.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.431 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 0.431 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.431 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.431 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0.432 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0.432 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.432 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0.433 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 0.433 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 0.434 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.434 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 0.434 * [backup-simplify]: Simplify (+ 0) into 0 0.434 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 0.435 * [backup-simplify]: Simplify (+ 1 0) into 1 0.435 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 0.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.437 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 0.437 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.437 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 0.437 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0.437 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 0.438 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 0.438 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 0.438 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 0.439 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 0.439 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 0.441 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 0.441 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 0.441 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 0.441 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 0.441 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.441 * [taylor]: Taking taylor expansion of phi2 in phi1 0.441 * [backup-simplify]: Simplify phi2 into phi2 0.441 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 0.441 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.441 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 0.441 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.441 * [backup-simplify]: Simplify lambda2 into lambda2 0.441 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.441 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.441 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.441 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.441 * [backup-simplify]: Simplify 0.5 into 0.5 0.441 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.441 * [taylor]: Taking taylor expansion of phi2 in phi1 0.441 * [backup-simplify]: Simplify phi2 into phi2 0.441 * [taylor]: Taking taylor expansion of phi1 in phi1 0.441 * [backup-simplify]: Simplify 0 into 0 0.441 * [backup-simplify]: Simplify 1 into 1 0.441 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.441 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.441 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.441 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.441 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.442 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.442 * [backup-simplify]: Simplify (- 0) into 0 0.442 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.442 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 0.442 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 0.442 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.442 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.442 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.442 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.442 * [backup-simplify]: Simplify 0.5 into 0.5 0.442 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.442 * [taylor]: Taking taylor expansion of phi2 in phi1 0.442 * [backup-simplify]: Simplify phi2 into phi2 0.442 * [taylor]: Taking taylor expansion of phi1 in phi1 0.442 * [backup-simplify]: Simplify 0 into 0 0.442 * [backup-simplify]: Simplify 1 into 1 0.442 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.442 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.442 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.442 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.442 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.442 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.443 * [backup-simplify]: Simplify (- 0) into 0 0.443 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.443 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 0.443 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.443 * [backup-simplify]: Simplify lambda1 into lambda1 0.443 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.443 * [taylor]: Taking taylor expansion of phi1 in phi1 0.443 * [backup-simplify]: Simplify 0 into 0 0.443 * [backup-simplify]: Simplify 1 into 1 0.443 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 0.443 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.443 * [taylor]: Taking taylor expansion of 2 in phi1 0.443 * [backup-simplify]: Simplify 2 into 2 0.443 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.443 * [taylor]: Taking taylor expansion of phi2 in phi1 0.443 * [backup-simplify]: Simplify phi2 into phi2 0.443 * [taylor]: Taking taylor expansion of phi1 in phi1 0.443 * [backup-simplify]: Simplify 0 into 0 0.443 * [backup-simplify]: Simplify 1 into 1 0.443 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 0.443 * [taylor]: Taking taylor expansion of 2 in phi1 0.443 * [backup-simplify]: Simplify 2 into 2 0.443 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 0.443 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.443 * [backup-simplify]: Simplify lambda2 into lambda2 0.443 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 0.443 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.443 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.443 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.443 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.443 * [backup-simplify]: Simplify 0.5 into 0.5 0.443 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.443 * [taylor]: Taking taylor expansion of phi2 in phi1 0.443 * [backup-simplify]: Simplify phi2 into phi2 0.443 * [taylor]: Taking taylor expansion of phi1 in phi1 0.443 * [backup-simplify]: Simplify 0 into 0 0.443 * [backup-simplify]: Simplify 1 into 1 0.443 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.443 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.443 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.443 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.444 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.444 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.444 * [backup-simplify]: Simplify (- 0) into 0 0.444 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.444 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.444 * [backup-simplify]: Simplify lambda1 into lambda1 0.444 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.444 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.444 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.444 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 0.444 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.444 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.445 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0.445 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0.445 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 0.446 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 0.446 * [backup-simplify]: Simplify (* phi2 0) into 0 0.446 * [backup-simplify]: Simplify (* 2 0) into 0 0.446 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.446 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 0.446 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 0.446 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 0.447 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 0.447 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 0.448 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 0.448 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) 0.448 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.449 * [backup-simplify]: Simplify (+ 0) into 0 0.449 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.449 * [backup-simplify]: Simplify (+ 0 1) into 1 0.450 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.451 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.451 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.452 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.452 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 0.452 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.452 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 0.452 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 0.452 * [backup-simplify]: Simplify (+ 0) into 0 0.453 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.453 * [backup-simplify]: Simplify (+ 0 1) into 1 0.453 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.455 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.455 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.455 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.456 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 0.456 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0.456 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0.457 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 0.457 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 0.458 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.458 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.458 * [backup-simplify]: Simplify (+ 0) into 0 0.458 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.459 * [backup-simplify]: Simplify (+ 0 1) into 1 0.459 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.461 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.461 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.461 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.461 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 0.461 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 0.462 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 0.462 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 0.462 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 0.463 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 0.463 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 0.465 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))))) 0.465 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 0.465 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 0.465 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 0.465 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.465 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.465 * [backup-simplify]: Simplify phi2 into phi2 0.465 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 0.465 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.465 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.465 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.465 * [backup-simplify]: Simplify 0 into 0 0.465 * [backup-simplify]: Simplify 1 into 1 0.465 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.465 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.465 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.465 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.465 * [backup-simplify]: Simplify 0.5 into 0.5 0.465 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.465 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.465 * [backup-simplify]: Simplify phi2 into phi2 0.465 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.465 * [backup-simplify]: Simplify phi1 into phi1 0.465 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.466 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.466 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.466 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.466 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.466 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.466 * [backup-simplify]: Simplify (- 0) into 0 0.466 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.466 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 0.466 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 0.467 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.467 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.467 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.467 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.467 * [backup-simplify]: Simplify 0.5 into 0.5 0.467 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.467 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.467 * [backup-simplify]: Simplify phi2 into phi2 0.467 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.467 * [backup-simplify]: Simplify phi1 into phi1 0.467 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.467 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.467 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.467 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.467 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.467 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.467 * [backup-simplify]: Simplify (- 0) into 0 0.467 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.467 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 0.467 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.467 * [backup-simplify]: Simplify lambda1 into lambda1 0.467 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.467 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.467 * [backup-simplify]: Simplify phi1 into phi1 0.467 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 0.467 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.468 * [taylor]: Taking taylor expansion of 2 in lambda2 0.468 * [backup-simplify]: Simplify 2 into 2 0.468 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.468 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.468 * [backup-simplify]: Simplify phi2 into phi2 0.468 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.468 * [backup-simplify]: Simplify phi1 into phi1 0.468 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 0.468 * [taylor]: Taking taylor expansion of 2 in lambda2 0.468 * [backup-simplify]: Simplify 2 into 2 0.468 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 0.468 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.468 * [backup-simplify]: Simplify 0 into 0 0.468 * [backup-simplify]: Simplify 1 into 1 0.468 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 0.468 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.468 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.468 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.468 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.468 * [backup-simplify]: Simplify 0.5 into 0.5 0.468 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.468 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.468 * [backup-simplify]: Simplify phi2 into phi2 0.468 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.468 * [backup-simplify]: Simplify phi1 into phi1 0.468 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.468 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.468 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.468 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.468 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.468 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.468 * [backup-simplify]: Simplify (- 0) into 0 0.469 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.469 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.469 * [backup-simplify]: Simplify lambda1 into lambda1 0.469 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.469 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.469 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.469 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 0.469 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.469 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 0.470 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 0.470 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 0.470 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.470 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.470 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.470 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 0.471 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 0.471 * [backup-simplify]: Simplify (* 2 0) into 0 0.471 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 0.471 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.471 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 0.472 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0.472 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.472 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 0.472 * [backup-simplify]: Simplify (+ 0) into 0 0.473 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.473 * [backup-simplify]: Simplify (+ 0 0) into 0 0.473 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.474 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.474 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.474 * [backup-simplify]: Simplify (- 0) into 0 0.474 * [backup-simplify]: Simplify (+ 0 0) into 0 0.475 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.475 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 0.475 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.475 * [backup-simplify]: Simplify (+ 0 0) into 0 0.475 * [backup-simplify]: Simplify (+ 0 0) into 0 0.476 * [backup-simplify]: Simplify (+ 0 0) into 0 0.476 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.476 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.476 * [backup-simplify]: Simplify (+ 0) into 0 0.477 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.477 * [backup-simplify]: Simplify (+ 0 0) into 0 0.477 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.478 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.478 * [backup-simplify]: Simplify (- 0) into 0 0.478 * [backup-simplify]: Simplify (+ 0 0) into 0 0.479 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.479 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 0.479 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 0.480 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 0.480 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 0.480 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0.481 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0.482 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0.482 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 0.482 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 0.482 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 0.482 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.482 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.482 * [backup-simplify]: Simplify phi2 into phi2 0.482 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 0.482 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.482 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.482 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.482 * [backup-simplify]: Simplify lambda2 into lambda2 0.482 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.482 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.482 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.482 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.482 * [backup-simplify]: Simplify 0.5 into 0.5 0.482 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.482 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.482 * [backup-simplify]: Simplify phi2 into phi2 0.482 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.482 * [backup-simplify]: Simplify phi1 into phi1 0.482 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.482 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.482 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.482 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.482 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.482 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.483 * [backup-simplify]: Simplify (- 0) into 0 0.483 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.483 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 0.483 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 0.483 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.483 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.483 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.483 * [backup-simplify]: Simplify 0.5 into 0.5 0.483 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.483 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.483 * [backup-simplify]: Simplify phi2 into phi2 0.483 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.483 * [backup-simplify]: Simplify phi1 into phi1 0.483 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.483 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.483 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.483 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.483 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.483 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.484 * [backup-simplify]: Simplify (- 0) into 0 0.484 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.484 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.484 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.484 * [backup-simplify]: Simplify 0 into 0 0.484 * [backup-simplify]: Simplify 1 into 1 0.484 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.484 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.484 * [backup-simplify]: Simplify phi1 into phi1 0.484 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 0.484 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 0.484 * [taylor]: Taking taylor expansion of 2 in lambda1 0.484 * [backup-simplify]: Simplify 2 into 2 0.484 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.484 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.484 * [backup-simplify]: Simplify phi2 into phi2 0.484 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.484 * [backup-simplify]: Simplify phi1 into phi1 0.484 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 0.484 * [taylor]: Taking taylor expansion of 2 in lambda1 0.484 * [backup-simplify]: Simplify 2 into 2 0.484 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 0.484 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.484 * [backup-simplify]: Simplify lambda2 into lambda2 0.484 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 0.484 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.484 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.484 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.484 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.484 * [backup-simplify]: Simplify 0.5 into 0.5 0.484 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.484 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.484 * [backup-simplify]: Simplify phi2 into phi2 0.484 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.484 * [backup-simplify]: Simplify phi1 into phi1 0.484 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.484 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.484 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.484 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.485 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.485 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.485 * [backup-simplify]: Simplify (- 0) into 0 0.485 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.485 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.485 * [backup-simplify]: Simplify 0 into 0 0.485 * [backup-simplify]: Simplify 1 into 1 0.485 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.485 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.485 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.485 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.485 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.486 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 0.486 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 0.486 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 0.486 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.486 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.486 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.487 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 0.487 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.487 * [backup-simplify]: Simplify (* 2 0) into 0 0.487 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 0.487 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.488 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 0.488 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0.488 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.489 * [backup-simplify]: Simplify (+ 0) into 0 0.489 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.489 * [backup-simplify]: Simplify (+ 0 0) into 0 0.489 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.490 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.490 * [backup-simplify]: Simplify (- 0) into 0 0.491 * [backup-simplify]: Simplify (+ 0 0) into 0 0.491 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.491 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.491 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 0.491 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.491 * [backup-simplify]: Simplify (+ 0 0) into 0 0.492 * [backup-simplify]: Simplify (+ 0 0) into 0 0.492 * [backup-simplify]: Simplify (+ 0 0) into 0 0.492 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.492 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.492 * [backup-simplify]: Simplify (+ 0) into 0 0.493 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.493 * [backup-simplify]: Simplify (+ 0 0) into 0 0.493 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.494 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.495 * [backup-simplify]: Simplify (- 0) into 0 0.495 * [backup-simplify]: Simplify (+ 0 0) into 0 0.495 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.495 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.496 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.496 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.496 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.497 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.497 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.498 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.498 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 0.498 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 0.498 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 0.498 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.498 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.498 * [backup-simplify]: Simplify phi2 into phi2 0.498 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 0.498 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.498 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.498 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.498 * [backup-simplify]: Simplify lambda2 into lambda2 0.498 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.498 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.498 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.498 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.498 * [backup-simplify]: Simplify 0.5 into 0.5 0.498 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.498 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.498 * [backup-simplify]: Simplify phi2 into phi2 0.498 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.498 * [backup-simplify]: Simplify phi1 into phi1 0.498 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.498 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.498 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.498 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.498 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.499 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.499 * [backup-simplify]: Simplify (- 0) into 0 0.499 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.499 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 0.499 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 0.499 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.499 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.499 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.499 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.499 * [backup-simplify]: Simplify 0.5 into 0.5 0.499 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.499 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.499 * [backup-simplify]: Simplify phi2 into phi2 0.499 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.499 * [backup-simplify]: Simplify phi1 into phi1 0.499 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.499 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.499 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.499 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.500 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.500 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.500 * [backup-simplify]: Simplify (- 0) into 0 0.500 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.500 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.500 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.500 * [backup-simplify]: Simplify 0 into 0 0.500 * [backup-simplify]: Simplify 1 into 1 0.500 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.500 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.500 * [backup-simplify]: Simplify phi1 into phi1 0.500 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 0.500 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 0.500 * [taylor]: Taking taylor expansion of 2 in lambda1 0.500 * [backup-simplify]: Simplify 2 into 2 0.500 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.500 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.500 * [backup-simplify]: Simplify phi2 into phi2 0.500 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.500 * [backup-simplify]: Simplify phi1 into phi1 0.500 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 0.500 * [taylor]: Taking taylor expansion of 2 in lambda1 0.500 * [backup-simplify]: Simplify 2 into 2 0.500 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 0.500 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.500 * [backup-simplify]: Simplify lambda2 into lambda2 0.500 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 0.500 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.500 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.500 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.500 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.500 * [backup-simplify]: Simplify 0.5 into 0.5 0.500 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.500 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.501 * [backup-simplify]: Simplify phi2 into phi2 0.501 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.501 * [backup-simplify]: Simplify phi1 into phi1 0.501 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.501 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.501 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.501 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.501 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.501 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.501 * [backup-simplify]: Simplify (- 0) into 0 0.501 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.501 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.501 * [backup-simplify]: Simplify 0 into 0 0.501 * [backup-simplify]: Simplify 1 into 1 0.501 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.501 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.502 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.502 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.502 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.502 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 0.502 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 0.503 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 0.503 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.503 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.503 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.503 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 0.503 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.503 * [backup-simplify]: Simplify (* 2 0) into 0 0.503 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 0.504 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.504 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 0.505 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0.505 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.505 * [backup-simplify]: Simplify (+ 0) into 0 0.505 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.506 * [backup-simplify]: Simplify (+ 0 0) into 0 0.506 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.507 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.507 * [backup-simplify]: Simplify (- 0) into 0 0.507 * [backup-simplify]: Simplify (+ 0 0) into 0 0.507 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.508 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.508 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 0.508 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.508 * [backup-simplify]: Simplify (+ 0 0) into 0 0.511 * [backup-simplify]: Simplify (+ 0 0) into 0 0.512 * [backup-simplify]: Simplify (+ 0 0) into 0 0.512 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.512 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.513 * [backup-simplify]: Simplify (+ 0) into 0 0.513 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.513 * [backup-simplify]: Simplify (+ 0 0) into 0 0.513 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.514 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.515 * [backup-simplify]: Simplify (- 0) into 0 0.515 * [backup-simplify]: Simplify (+ 0 0) into 0 0.515 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.516 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.516 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.516 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.517 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.517 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.517 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.518 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.518 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) in lambda2 0.518 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))) in lambda2 0.518 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 0.518 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.518 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.518 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.518 * [backup-simplify]: Simplify 0 into 0 0.518 * [backup-simplify]: Simplify 1 into 1 0.518 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.518 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.518 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.518 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.518 * [backup-simplify]: Simplify 0.5 into 0.5 0.518 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.518 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.518 * [backup-simplify]: Simplify phi2 into phi2 0.518 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.518 * [backup-simplify]: Simplify phi1 into phi1 0.518 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.518 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.519 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.519 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.519 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.519 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.519 * [backup-simplify]: Simplify (- 0) into 0 0.519 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.519 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 0.519 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.519 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.519 * [backup-simplify]: Simplify phi1 into phi1 0.519 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.519 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.519 * [backup-simplify]: Simplify phi2 into phi2 0.519 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.519 * [taylor]: Taking taylor expansion of 2 in lambda2 0.519 * [backup-simplify]: Simplify 2 into 2 0.519 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.519 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.519 * [backup-simplify]: Simplify phi2 into phi2 0.520 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.520 * [backup-simplify]: Simplify phi1 into phi1 0.520 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.520 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.520 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 0.520 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 0.520 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.520 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.520 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.520 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 0.521 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 0.521 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.521 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.521 * [backup-simplify]: Simplify (+ 0 0) into 0 0.522 * [backup-simplify]: Simplify (+ 0 0) into 0 0.522 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.522 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.523 * [backup-simplify]: Simplify (- 0) into 0 0.523 * [backup-simplify]: Simplify (+ 0 0) into 0 0.523 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 0.523 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 0.523 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 0.524 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 0.524 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.524 * [taylor]: Taking taylor expansion of phi2 in phi1 0.524 * [backup-simplify]: Simplify phi2 into phi2 0.524 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.524 * [taylor]: Taking taylor expansion of phi1 in phi1 0.524 * [backup-simplify]: Simplify 0 into 0 0.524 * [backup-simplify]: Simplify 1 into 1 0.524 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.524 * [taylor]: Taking taylor expansion of 2 in phi1 0.524 * [backup-simplify]: Simplify 2 into 2 0.524 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.524 * [taylor]: Taking taylor expansion of phi2 in phi1 0.524 * [backup-simplify]: Simplify phi2 into phi2 0.524 * [taylor]: Taking taylor expansion of phi1 in phi1 0.524 * [backup-simplify]: Simplify 0 into 0 0.524 * [backup-simplify]: Simplify 1 into 1 0.524 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.524 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.524 * [backup-simplify]: Simplify (* phi2 0) into 0 0.524 * [backup-simplify]: Simplify (* 2 0) into 0 0.525 * [backup-simplify]: Simplify (- 0) into 0 0.525 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.525 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 0.525 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.525 * [backup-simplify]: Simplify (+ 0 0) into 0 0.525 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.526 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.526 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.526 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.526 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 0.526 * [taylor]: Taking taylor expansion of phi2 in phi2 0.526 * [backup-simplify]: Simplify 0 into 0 0.526 * [backup-simplify]: Simplify 1 into 1 0.526 * [backup-simplify]: Simplify 0 into 0 0.526 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) in lambda2 0.526 * [taylor]: Taking taylor expansion of -1 in lambda2 0.526 * [backup-simplify]: Simplify -1 into -1 0.526 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in lambda2 0.526 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) in lambda2 0.526 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) in lambda2 0.526 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))) in lambda2 0.526 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 0.526 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.526 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.526 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.526 * [backup-simplify]: Simplify 0 into 0 0.526 * [backup-simplify]: Simplify 1 into 1 0.527 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.527 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.527 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.527 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.527 * [backup-simplify]: Simplify 0.5 into 0.5 0.527 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.527 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.527 * [backup-simplify]: Simplify phi2 into phi2 0.527 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.527 * [backup-simplify]: Simplify phi1 into phi1 0.527 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.527 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.527 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.527 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.527 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.527 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.527 * [backup-simplify]: Simplify (- 0) into 0 0.527 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.527 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 0.527 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.527 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.528 * [backup-simplify]: Simplify phi1 into phi1 0.528 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.528 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.528 * [backup-simplify]: Simplify phi2 into phi2 0.528 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.528 * [taylor]: Taking taylor expansion of 2 in lambda2 0.528 * [backup-simplify]: Simplify 2 into 2 0.528 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.528 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.528 * [backup-simplify]: Simplify phi2 into phi2 0.528 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.528 * [backup-simplify]: Simplify phi1 into phi1 0.528 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.528 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.528 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 0.528 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 0.528 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.528 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.528 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.528 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 0.529 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 0.529 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0.529 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.529 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.529 * [backup-simplify]: Simplify (+ 0 0) into 0 0.530 * [backup-simplify]: Simplify (+ 0 0) into 0 0.530 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.530 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.530 * [backup-simplify]: Simplify (- 0) into 0 0.530 * [backup-simplify]: Simplify (+ 0 0) into 0 0.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 0.531 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 0.531 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.531 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.531 * [backup-simplify]: Simplify 0 into 0 0.531 * [backup-simplify]: Simplify 1 into 1 0.531 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.531 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.531 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.531 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.531 * [backup-simplify]: Simplify 0.5 into 0.5 0.531 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.531 * [backup-simplify]: Simplify phi2 into phi2 0.531 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.531 * [backup-simplify]: Simplify phi1 into phi1 0.531 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.532 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.532 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.532 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.532 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.532 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.532 * [backup-simplify]: Simplify (- 0) into 0 0.532 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.532 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.532 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 0.533 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 0.533 * [backup-simplify]: Simplify (* -1 0) into 0 0.533 * [taylor]: Taking taylor expansion of 0 in phi1 0.533 * [backup-simplify]: Simplify 0 into 0 0.533 * [taylor]: Taking taylor expansion of 0 in phi2 0.533 * [backup-simplify]: Simplify 0 into 0 0.533 * [backup-simplify]: Simplify 0 into 0 0.533 * [taylor]: Taking taylor expansion of 0 in phi1 0.533 * [backup-simplify]: Simplify 0 into 0 0.533 * [taylor]: Taking taylor expansion of 0 in phi2 0.533 * [backup-simplify]: Simplify 0 into 0 0.533 * [backup-simplify]: Simplify 0 into 0 0.533 * [taylor]: Taking taylor expansion of -1 in phi2 0.533 * [backup-simplify]: Simplify -1 into -1 0.533 * [backup-simplify]: Simplify -1 into -1 0.533 * [backup-simplify]: Simplify 1 into 1 0.534 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 0.534 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.535 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 0.535 * [backup-simplify]: Simplify (+ 0 0) into 0 0.535 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 0.536 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.536 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 0.536 * [backup-simplify]: Simplify (- 0) into 0 0.537 * [backup-simplify]: Simplify (+ 0 0) into 0 0.537 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 0.537 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 0.538 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0 0.538 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.538 * [backup-simplify]: Simplify (* 1 1) into 1 0.538 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.539 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 0.539 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.539 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.539 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.539 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 0.540 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 0.540 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.541 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 0.541 * [backup-simplify]: Simplify (+ 0 0) into 0 0.542 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 0.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.543 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 0.543 * [backup-simplify]: Simplify (- 0) into 0 0.543 * [backup-simplify]: Simplify (+ 0 0) into 0 0.543 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 0.544 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0 0.544 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0 0.545 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0 0.545 * [backup-simplify]: Simplify (+ 0 0) into 0 0.545 * [backup-simplify]: Simplify (- 0) into 0 0.546 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.547 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2) (+)) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))))) 0.547 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))))) in lambda2 0.547 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.547 * [backup-simplify]: Simplify 1/2 into 1/2 0.547 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) in lambda2 0.547 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) in lambda2 0.548 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2 0.548 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) in lambda2 0.548 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 0.548 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.548 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.548 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.548 * [backup-simplify]: Simplify 0 into 0 0.548 * [backup-simplify]: Simplify 1 into 1 0.548 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.548 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.548 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.548 * [backup-simplify]: Simplify 0.5 into 0.5 0.548 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.548 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.548 * [backup-simplify]: Simplify phi2 into phi2 0.548 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.548 * [backup-simplify]: Simplify phi1 into phi1 0.548 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.548 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.548 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.548 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.548 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.548 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.548 * [backup-simplify]: Simplify (- 0) into 0 0.548 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.549 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 0.549 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.549 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.549 * [backup-simplify]: Simplify phi2 into phi2 0.549 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.549 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.549 * [backup-simplify]: Simplify phi1 into phi1 0.549 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.549 * [taylor]: Taking taylor expansion of 2 in lambda2 0.549 * [backup-simplify]: Simplify 2 into 2 0.549 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.549 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.549 * [backup-simplify]: Simplify phi2 into phi2 0.549 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.549 * [backup-simplify]: Simplify phi1 into phi1 0.549 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.549 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.549 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 0.549 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 0.549 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.549 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.549 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.549 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 0.550 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 0.550 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) into (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) 0.550 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.550 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.550 * [backup-simplify]: Simplify (+ 0 0) into 0 0.551 * [backup-simplify]: Simplify (+ 0 0) into 0 0.551 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.551 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 0.551 * [backup-simplify]: Simplify (- 0) into 0 0.551 * [backup-simplify]: Simplify (+ 0 0) into 0 0.552 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) (/ 0 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 0.552 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 0.552 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) in lambda2 0.552 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.552 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.552 * [backup-simplify]: Simplify 0.5 into 0.5 0.552 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.552 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.552 * [backup-simplify]: Simplify phi2 into phi2 0.552 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.552 * [backup-simplify]: Simplify phi1 into phi1 0.552 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.552 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.552 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.553 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.553 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.553 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.553 * [backup-simplify]: Simplify (- 0) into 0 0.553 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.553 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2 0.553 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 0.553 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.553 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.553 * [backup-simplify]: Simplify 0 into 0 0.553 * [backup-simplify]: Simplify 1 into 1 0.553 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 0.553 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.553 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.553 * [backup-simplify]: Simplify 0.5 into 0.5 0.553 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.553 * [backup-simplify]: Simplify phi2 into phi2 0.553 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.553 * [backup-simplify]: Simplify phi1 into phi1 0.553 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.553 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.553 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.554 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.554 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.554 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.554 * [backup-simplify]: Simplify (- 0) into 0 0.554 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.554 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) in lambda2 0.554 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 0.554 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.554 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.554 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.554 * [backup-simplify]: Simplify 0 into 0 0.554 * [backup-simplify]: Simplify 1 into 1 0.554 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.554 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.554 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.554 * [backup-simplify]: Simplify 0.5 into 0.5 0.554 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.554 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.554 * [backup-simplify]: Simplify phi2 into phi2 0.554 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.554 * [backup-simplify]: Simplify phi1 into phi1 0.554 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.554 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.554 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.554 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.555 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.555 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.555 * [backup-simplify]: Simplify (- 0) into 0 0.555 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.555 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 0.555 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.555 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.555 * [backup-simplify]: Simplify phi2 into phi2 0.555 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.555 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.555 * [backup-simplify]: Simplify phi1 into phi1 0.555 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 0.555 * [taylor]: Taking taylor expansion of 2 in lambda2 0.555 * [backup-simplify]: Simplify 2 into 2 0.555 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.555 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.555 * [backup-simplify]: Simplify phi2 into phi2 0.555 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.555 * [backup-simplify]: Simplify phi1 into phi1 0.555 * [backup-simplify]: Simplify (* 1 1) into 1 0.556 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.556 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 0.556 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 0.556 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.556 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.556 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 0.556 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 0.556 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.556 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 0.556 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 0.557 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 0.557 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi2 phi1))) 4) (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ (pow (cos (* 0.5 (+ phi2 phi1))) 4) (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 0.557 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.557 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.558 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) 0.558 * [backup-simplify]: Simplify (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) 0.558 * [taylor]: Taking taylor expansion of (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) in phi1 0.558 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.558 * [backup-simplify]: Simplify 1/2 into 1/2 0.558 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) in phi1 0.558 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.558 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.558 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.558 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.558 * [backup-simplify]: Simplify 0.5 into 0.5 0.558 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.558 * [taylor]: Taking taylor expansion of phi2 in phi1 0.558 * [backup-simplify]: Simplify phi2 into phi2 0.558 * [taylor]: Taking taylor expansion of phi1 in phi1 0.558 * [backup-simplify]: Simplify 0 into 0 0.558 * [backup-simplify]: Simplify 1 into 1 0.558 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.558 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.558 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.558 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.558 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.559 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.559 * [backup-simplify]: Simplify (- 0) into 0 0.559 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.559 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 0.559 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 0.559 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 0.559 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 0.559 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.559 * [taylor]: Taking taylor expansion of phi1 in phi1 0.559 * [backup-simplify]: Simplify 0 into 0 0.559 * [backup-simplify]: Simplify 1 into 1 0.559 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.559 * [taylor]: Taking taylor expansion of phi2 in phi1 0.559 * [backup-simplify]: Simplify phi2 into phi2 0.559 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.559 * [taylor]: Taking taylor expansion of 2 in phi1 0.559 * [backup-simplify]: Simplify 2 into 2 0.559 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.559 * [taylor]: Taking taylor expansion of phi2 in phi1 0.559 * [backup-simplify]: Simplify phi2 into phi2 0.559 * [taylor]: Taking taylor expansion of phi1 in phi1 0.559 * [backup-simplify]: Simplify 0 into 0 0.559 * [backup-simplify]: Simplify 1 into 1 0.559 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.559 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 0.559 * [backup-simplify]: Simplify (* phi2 0) into 0 0.560 * [backup-simplify]: Simplify (* 2 0) into 0 0.560 * [backup-simplify]: Simplify (- 0) into 0 0.560 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.560 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.560 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 0.560 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.560 * [backup-simplify]: Simplify (+ 0 0) into 0 0.561 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.561 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.561 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.561 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 0.562 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 0.562 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.562 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 0.562 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 0.562 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 0.562 * [taylor]: Taking taylor expansion of 1/2 in phi2 0.562 * [backup-simplify]: Simplify 1/2 into 1/2 0.562 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 0.562 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.562 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.562 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.562 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.562 * [backup-simplify]: Simplify 0.5 into 0.5 0.562 * [taylor]: Taking taylor expansion of phi2 in phi2 0.562 * [backup-simplify]: Simplify 0 into 0 0.562 * [backup-simplify]: Simplify 1 into 1 0.562 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.563 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.563 * [taylor]: Taking taylor expansion of phi2 in phi2 0.563 * [backup-simplify]: Simplify 0 into 0 0.563 * [backup-simplify]: Simplify 1 into 1 0.564 * [backup-simplify]: Simplify (* 1 1) into 1 0.564 * [backup-simplify]: Simplify (/ 1 1) into 1 0.564 * [backup-simplify]: Simplify (+ 0) into 0 0.564 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.565 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 0.565 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 0.565 * [backup-simplify]: Simplify 0 into 0 0.566 * [backup-simplify]: Simplify (+ 0) into 0 0.566 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.566 * [backup-simplify]: Simplify (+ 0 0) into 0 0.567 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.567 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.568 * [backup-simplify]: Simplify (- 0) into 0 0.568 * [backup-simplify]: Simplify (+ 0 0) into 0 0.568 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.568 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.569 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.570 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.570 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1 0.570 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.570 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 0.570 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 0.570 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 0.570 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 0.570 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.570 * [taylor]: Taking taylor expansion of phi2 in phi1 0.570 * [backup-simplify]: Simplify phi2 into phi2 0.570 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.570 * [taylor]: Taking taylor expansion of phi1 in phi1 0.570 * [backup-simplify]: Simplify 0 into 0 0.570 * [backup-simplify]: Simplify 1 into 1 0.570 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.570 * [taylor]: Taking taylor expansion of 2 in phi1 0.570 * [backup-simplify]: Simplify 2 into 2 0.570 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.570 * [taylor]: Taking taylor expansion of phi2 in phi1 0.570 * [backup-simplify]: Simplify phi2 into phi2 0.570 * [taylor]: Taking taylor expansion of phi1 in phi1 0.570 * [backup-simplify]: Simplify 0 into 0 0.570 * [backup-simplify]: Simplify 1 into 1 0.570 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.570 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.570 * [backup-simplify]: Simplify (* phi2 0) into 0 0.571 * [backup-simplify]: Simplify (* 2 0) into 0 0.571 * [backup-simplify]: Simplify (- 0) into 0 0.571 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.571 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.571 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 0.571 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.571 * [backup-simplify]: Simplify (+ 0 0) into 0 0.572 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.572 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.572 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.572 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 0.572 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 0.572 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.573 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.573 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.573 * [backup-simplify]: Simplify 0.5 into 0.5 0.573 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.573 * [taylor]: Taking taylor expansion of phi2 in phi1 0.573 * [backup-simplify]: Simplify phi2 into phi2 0.573 * [taylor]: Taking taylor expansion of phi1 in phi1 0.573 * [backup-simplify]: Simplify 0 into 0 0.573 * [backup-simplify]: Simplify 1 into 1 0.573 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.573 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.573 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.573 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.573 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.573 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.573 * [backup-simplify]: Simplify (- 0) into 0 0.573 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.573 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.573 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 0.574 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 0.574 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 0.574 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 0.574 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.574 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.574 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.574 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.574 * [backup-simplify]: Simplify 0.5 into 0.5 0.574 * [taylor]: Taking taylor expansion of phi2 in phi2 0.574 * [backup-simplify]: Simplify 0 into 0 0.574 * [backup-simplify]: Simplify 1 into 1 0.574 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.575 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.575 * [taylor]: Taking taylor expansion of phi2 in phi2 0.575 * [backup-simplify]: Simplify 0 into 0 0.575 * [backup-simplify]: Simplify 1 into 1 0.575 * [backup-simplify]: Simplify (* 1 1) into 1 0.575 * [backup-simplify]: Simplify (/ 1 1) into 1 0.576 * [backup-simplify]: Simplify (+ 0) into 0 0.576 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.576 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 0.577 * [backup-simplify]: Simplify (- 0) into 0 0.577 * [backup-simplify]: Simplify 0 into 0 0.577 * [backup-simplify]: Simplify (* 1 1) into 1 0.577 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.577 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.578 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 0.578 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 0.578 * [backup-simplify]: Simplify (+ 0 0) into 0 0.578 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.579 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 0.579 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 0.579 * [backup-simplify]: Simplify (- 0) into 0 0.579 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.580 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.580 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1 0.580 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.580 * [backup-simplify]: Simplify 1/2 into 1/2 0.580 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.580 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 0.580 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 0.581 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 0.581 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 0.581 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.581 * [taylor]: Taking taylor expansion of phi2 in phi1 0.581 * [backup-simplify]: Simplify phi2 into phi2 0.581 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.581 * [taylor]: Taking taylor expansion of phi1 in phi1 0.581 * [backup-simplify]: Simplify 0 into 0 0.581 * [backup-simplify]: Simplify 1 into 1 0.581 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 0.581 * [taylor]: Taking taylor expansion of 2 in phi1 0.581 * [backup-simplify]: Simplify 2 into 2 0.581 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.581 * [taylor]: Taking taylor expansion of phi2 in phi1 0.581 * [backup-simplify]: Simplify phi2 into phi2 0.581 * [taylor]: Taking taylor expansion of phi1 in phi1 0.581 * [backup-simplify]: Simplify 0 into 0 0.581 * [backup-simplify]: Simplify 1 into 1 0.581 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.581 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.581 * [backup-simplify]: Simplify (* phi2 0) into 0 0.581 * [backup-simplify]: Simplify (* 2 0) into 0 0.581 * [backup-simplify]: Simplify (- 0) into 0 0.582 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 0.582 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.582 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 0.582 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.582 * [backup-simplify]: Simplify (+ 0 0) into 0 0.583 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.583 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 0.583 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 0.583 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 0.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 0.584 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 0.584 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.584 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.584 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.584 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.584 * [backup-simplify]: Simplify 0.5 into 0.5 0.584 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.584 * [taylor]: Taking taylor expansion of phi2 in phi1 0.584 * [backup-simplify]: Simplify phi2 into phi2 0.584 * [taylor]: Taking taylor expansion of phi1 in phi1 0.584 * [backup-simplify]: Simplify 0 into 0 0.584 * [backup-simplify]: Simplify 1 into 1 0.584 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.584 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.584 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.584 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.584 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.584 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.584 * [backup-simplify]: Simplify (- 0) into 0 0.584 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.584 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.585 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 0.585 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 0.585 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 0.585 * [taylor]: Taking taylor expansion of 1/2 in phi2 0.585 * [backup-simplify]: Simplify 1/2 into 1/2 0.585 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 0.585 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.585 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.585 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.585 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.585 * [backup-simplify]: Simplify 0.5 into 0.5 0.585 * [taylor]: Taking taylor expansion of phi2 in phi2 0.585 * [backup-simplify]: Simplify 0 into 0 0.585 * [backup-simplify]: Simplify 1 into 1 0.585 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.586 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.586 * [taylor]: Taking taylor expansion of phi2 in phi2 0.586 * [backup-simplify]: Simplify 0 into 0 0.586 * [backup-simplify]: Simplify 1 into 1 0.586 * [backup-simplify]: Simplify (* 1 1) into 1 0.587 * [backup-simplify]: Simplify (/ 1 1) into 1 0.587 * [backup-simplify]: Simplify (+ 0) into 0 0.587 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.588 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 0.588 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 0.588 * [backup-simplify]: Simplify 0 into 0 0.588 * [taylor]: Taking taylor expansion of 0 in phi2 0.588 * [backup-simplify]: Simplify 0 into 0 0.588 * [backup-simplify]: Simplify 0 into 0 0.588 * [taylor]: Taking taylor expansion of 0 in phi2 0.588 * [backup-simplify]: Simplify 0 into 0 0.588 * [backup-simplify]: Simplify 0 into 0 0.589 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 0.589 * [backup-simplify]: Simplify (* 1 1) into 1 0.589 * [backup-simplify]: Simplify (+ 0 1) into 1 0.590 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 0.590 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 0.590 * [backup-simplify]: Simplify (- 0) into 0 0.590 * [backup-simplify]: Simplify (+ 1 0) into 1 0.591 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 0.591 * [taylor]: Taking taylor expansion of 0 in phi2 0.591 * [backup-simplify]: Simplify 0 into 0 0.591 * [backup-simplify]: Simplify 0 into 0 0.592 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 0.592 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 0.592 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 0.592 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 0.593 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 0.593 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 0.593 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 0.593 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.593 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.593 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.593 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.593 * [backup-simplify]: Simplify 0.5 into 0.5 0.593 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.593 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.593 * [taylor]: Taking taylor expansion of phi1 in phi2 0.593 * [backup-simplify]: Simplify phi1 into phi1 0.593 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.593 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.593 * [taylor]: Taking taylor expansion of phi2 in phi2 0.593 * [backup-simplify]: Simplify 0 into 0 0.593 * [backup-simplify]: Simplify 1 into 1 0.593 * [backup-simplify]: Simplify (/ 1 1) into 1 0.593 * [backup-simplify]: Simplify (+ 0 1) into 1 0.594 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.594 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.594 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 0.594 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.594 * [backup-simplify]: Simplify lambda1 into lambda1 0.594 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.594 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.594 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.594 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 0.594 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 0.594 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 0.594 * [taylor]: Taking taylor expansion of phi2 in phi2 0.594 * [backup-simplify]: Simplify 0 into 0 0.594 * [backup-simplify]: Simplify 1 into 1 0.595 * [backup-simplify]: Simplify (* 1 1) into 1 0.595 * [backup-simplify]: Simplify (/ 1 1) into 1 0.595 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 0.595 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 0.595 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.595 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.595 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.595 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.595 * [backup-simplify]: Simplify 0.5 into 0.5 0.595 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.595 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.595 * [taylor]: Taking taylor expansion of phi1 in phi2 0.595 * [backup-simplify]: Simplify phi1 into phi1 0.595 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.595 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.595 * [taylor]: Taking taylor expansion of phi2 in phi2 0.595 * [backup-simplify]: Simplify 0 into 0 0.595 * [backup-simplify]: Simplify 1 into 1 0.595 * [backup-simplify]: Simplify (/ 1 1) into 1 0.596 * [backup-simplify]: Simplify (+ 0 1) into 1 0.596 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.596 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.596 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 0.596 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.596 * [backup-simplify]: Simplify lambda2 into lambda2 0.596 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.596 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.597 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.597 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 0.597 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 0.597 * [taylor]: Taking taylor expansion of phi1 in phi2 0.597 * [backup-simplify]: Simplify phi1 into phi1 0.597 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.597 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.597 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 0.597 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 0.597 * [taylor]: Taking taylor expansion of 2 in phi2 0.597 * [backup-simplify]: Simplify 2 into 2 0.597 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 0.597 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.597 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.597 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.597 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.597 * [backup-simplify]: Simplify 0.5 into 0.5 0.597 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.597 * [taylor]: Taking taylor expansion of phi1 in phi2 0.597 * [backup-simplify]: Simplify phi1 into phi1 0.597 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.597 * [taylor]: Taking taylor expansion of phi2 in phi2 0.597 * [backup-simplify]: Simplify 0 into 0 0.597 * [backup-simplify]: Simplify 1 into 1 0.597 * [backup-simplify]: Simplify (/ 1 1) into 1 0.598 * [backup-simplify]: Simplify (+ 0 1) into 1 0.598 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.598 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.598 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 0.598 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.598 * [backup-simplify]: Simplify lambda2 into lambda2 0.598 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.598 * [backup-simplify]: Simplify lambda1 into lambda1 0.598 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.598 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.599 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.599 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 0.599 * [taylor]: Taking taylor expansion of 2 in phi2 0.599 * [backup-simplify]: Simplify 2 into 2 0.599 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 0.599 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 0.599 * [taylor]: Taking taylor expansion of phi2 in phi2 0.599 * [backup-simplify]: Simplify 0 into 0 0.599 * [backup-simplify]: Simplify 1 into 1 0.599 * [taylor]: Taking taylor expansion of phi1 in phi2 0.599 * [backup-simplify]: Simplify phi1 into phi1 0.599 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.599 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.599 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.599 * [backup-simplify]: Simplify (+ 1 0) into 1 0.600 * [backup-simplify]: Simplify (+ 0 1) into 1 0.600 * [backup-simplify]: Simplify (+ 1 0) into 1 0.600 * [backup-simplify]: Simplify (sqrt 1) into 1 0.600 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.601 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.601 * [backup-simplify]: Simplify (+ 0 0) into 0 0.601 * [backup-simplify]: Simplify (+ 0 0) into 0 0.601 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 0.601 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 0.602 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 0.602 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 0.602 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 0.602 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 0.602 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 0.602 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 0.602 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 0.602 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.602 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.602 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.602 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.602 * [backup-simplify]: Simplify 0.5 into 0.5 0.602 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.602 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.602 * [taylor]: Taking taylor expansion of phi1 in phi1 0.602 * [backup-simplify]: Simplify 0 into 0 0.602 * [backup-simplify]: Simplify 1 into 1 0.603 * [backup-simplify]: Simplify (/ 1 1) into 1 0.603 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.603 * [taylor]: Taking taylor expansion of phi2 in phi1 0.603 * [backup-simplify]: Simplify phi2 into phi2 0.603 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.603 * [backup-simplify]: Simplify (+ 1 0) into 1 0.603 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.603 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.603 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 0.603 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.603 * [backup-simplify]: Simplify lambda1 into lambda1 0.604 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.604 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.604 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.604 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 0.604 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.604 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.604 * [taylor]: Taking taylor expansion of phi2 in phi1 0.604 * [backup-simplify]: Simplify phi2 into phi2 0.604 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.604 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.604 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 0.604 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 0.604 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.604 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.604 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.604 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.604 * [backup-simplify]: Simplify 0.5 into 0.5 0.604 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.604 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.604 * [taylor]: Taking taylor expansion of phi1 in phi1 0.604 * [backup-simplify]: Simplify 0 into 0 0.604 * [backup-simplify]: Simplify 1 into 1 0.604 * [backup-simplify]: Simplify (/ 1 1) into 1 0.605 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.605 * [taylor]: Taking taylor expansion of phi2 in phi1 0.605 * [backup-simplify]: Simplify phi2 into phi2 0.605 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.605 * [backup-simplify]: Simplify (+ 1 0) into 1 0.605 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.605 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.605 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 0.605 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.605 * [backup-simplify]: Simplify lambda2 into lambda2 0.605 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.606 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.606 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.606 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.606 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.606 * [taylor]: Taking taylor expansion of phi1 in phi1 0.606 * [backup-simplify]: Simplify 0 into 0 0.606 * [backup-simplify]: Simplify 1 into 1 0.606 * [backup-simplify]: Simplify (* 1 1) into 1 0.606 * [backup-simplify]: Simplify (/ 1 1) into 1 0.606 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.606 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 0.606 * [taylor]: Taking taylor expansion of 2 in phi1 0.606 * [backup-simplify]: Simplify 2 into 2 0.606 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 0.606 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.606 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.606 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.607 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.607 * [backup-simplify]: Simplify 0.5 into 0.5 0.607 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.607 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.607 * [taylor]: Taking taylor expansion of phi1 in phi1 0.607 * [backup-simplify]: Simplify 0 into 0 0.607 * [backup-simplify]: Simplify 1 into 1 0.607 * [backup-simplify]: Simplify (/ 1 1) into 1 0.607 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.607 * [taylor]: Taking taylor expansion of phi2 in phi1 0.607 * [backup-simplify]: Simplify phi2 into phi2 0.607 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.607 * [backup-simplify]: Simplify (+ 1 0) into 1 0.607 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.608 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.608 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 0.608 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.608 * [backup-simplify]: Simplify lambda2 into lambda2 0.608 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.608 * [backup-simplify]: Simplify lambda1 into lambda1 0.608 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.608 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.608 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.608 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.608 * [taylor]: Taking taylor expansion of 2 in phi1 0.608 * [backup-simplify]: Simplify 2 into 2 0.608 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.608 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.608 * [taylor]: Taking taylor expansion of phi2 in phi1 0.608 * [backup-simplify]: Simplify phi2 into phi2 0.608 * [taylor]: Taking taylor expansion of phi1 in phi1 0.608 * [backup-simplify]: Simplify 0 into 0 0.608 * [backup-simplify]: Simplify 1 into 1 0.608 * [backup-simplify]: Simplify (* phi2 0) into 0 0.609 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.609 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.609 * [backup-simplify]: Simplify (+ 0 1) into 1 0.609 * [backup-simplify]: Simplify (+ 0 1) into 1 0.609 * [backup-simplify]: Simplify (+ 0 1) into 1 0.610 * [backup-simplify]: Simplify (+ 1 0) into 1 0.610 * [backup-simplify]: Simplify (sqrt 1) into 1 0.610 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.614 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.614 * [backup-simplify]: Simplify (+ 0 0) into 0 0.614 * [backup-simplify]: Simplify (+ 0 0) into 0 0.614 * [backup-simplify]: Simplify (+ 0 0) into 0 0.615 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.615 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 0.615 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 0.615 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.615 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 0.615 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 0.615 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 0.615 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 0.616 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 0.616 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.616 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.616 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.616 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.616 * [backup-simplify]: Simplify 0.5 into 0.5 0.616 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.616 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.616 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.616 * [backup-simplify]: Simplify phi1 into phi1 0.616 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.616 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.616 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.616 * [backup-simplify]: Simplify phi2 into phi2 0.616 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.616 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.616 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.616 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.616 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.616 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.616 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.617 * [backup-simplify]: Simplify (- 0) into 0 0.617 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.617 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 0.617 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.617 * [backup-simplify]: Simplify lambda1 into lambda1 0.617 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.617 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.617 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.617 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 0.617 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.617 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.617 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.617 * [backup-simplify]: Simplify phi2 into phi2 0.617 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.618 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.618 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 0.618 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 0.618 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.618 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.618 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.618 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.618 * [backup-simplify]: Simplify 0.5 into 0.5 0.618 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.618 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.618 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.618 * [backup-simplify]: Simplify phi1 into phi1 0.618 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.618 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.618 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.618 * [backup-simplify]: Simplify phi2 into phi2 0.618 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.618 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.618 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.618 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.618 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.618 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.618 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.619 * [backup-simplify]: Simplify (- 0) into 0 0.619 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.619 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.619 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.619 * [backup-simplify]: Simplify 0 into 0 0.619 * [backup-simplify]: Simplify 1 into 1 0.619 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.619 * [backup-simplify]: Simplify (* 1 1) into 1 0.619 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.620 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.620 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.620 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.620 * [backup-simplify]: Simplify phi1 into phi1 0.620 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.620 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.620 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.620 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 0.620 * [taylor]: Taking taylor expansion of 2 in lambda2 0.620 * [backup-simplify]: Simplify 2 into 2 0.620 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 0.620 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.620 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.620 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.620 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.620 * [backup-simplify]: Simplify 0.5 into 0.5 0.620 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.620 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.620 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.620 * [backup-simplify]: Simplify phi1 into phi1 0.620 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.620 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.620 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.620 * [backup-simplify]: Simplify phi2 into phi2 0.620 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.620 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.620 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.620 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.620 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.621 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.621 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.621 * [backup-simplify]: Simplify (- 0) into 0 0.621 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.621 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 0.621 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.621 * [backup-simplify]: Simplify 0 into 0 0.621 * [backup-simplify]: Simplify 1 into 1 0.621 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.621 * [backup-simplify]: Simplify lambda1 into lambda1 0.621 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.621 * [backup-simplify]: Simplify (* 0 lambda1) into 0 0.622 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 0.622 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 0.622 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.622 * [taylor]: Taking taylor expansion of 2 in lambda2 0.622 * [backup-simplify]: Simplify 2 into 2 0.622 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.622 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.622 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.622 * [backup-simplify]: Simplify phi2 into phi2 0.622 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.622 * [backup-simplify]: Simplify phi1 into phi1 0.622 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.622 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.622 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.622 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.623 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.623 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.623 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.623 * [backup-simplify]: Simplify (+ 0) into 0 0.624 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.624 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.624 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.624 * [backup-simplify]: Simplify (+ 0 0) into 0 0.624 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.625 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.625 * [backup-simplify]: Simplify (- 0) into 0 0.626 * [backup-simplify]: Simplify (+ 0 0) into 0 0.626 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.626 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.627 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.627 * [backup-simplify]: Simplify (+ 0 0) into 0 0.627 * [backup-simplify]: Simplify (+ 0 0) into 0 0.628 * [backup-simplify]: Simplify (+ 0 0) into 0 0.628 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.628 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.628 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.629 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.629 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 0.629 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.629 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.629 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 0.629 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.629 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.629 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.629 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.629 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.629 * [backup-simplify]: Simplify 0.5 into 0.5 0.629 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.629 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.629 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.629 * [backup-simplify]: Simplify phi1 into phi1 0.629 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.629 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.630 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.630 * [backup-simplify]: Simplify phi2 into phi2 0.630 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.630 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.630 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.630 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.630 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.630 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.630 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.630 * [backup-simplify]: Simplify (- 0) into 0 0.630 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.631 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.631 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.631 * [backup-simplify]: Simplify 0 into 0 0.631 * [backup-simplify]: Simplify 1 into 1 0.631 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.631 * [backup-simplify]: Simplify (* 1 1) into 1 0.631 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.631 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 0.631 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.631 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.631 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.631 * [backup-simplify]: Simplify phi2 into phi2 0.631 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.631 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.631 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 0.631 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.631 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.632 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.632 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.632 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.632 * [backup-simplify]: Simplify 0.5 into 0.5 0.632 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.632 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.632 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.632 * [backup-simplify]: Simplify phi1 into phi1 0.632 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.632 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.632 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.632 * [backup-simplify]: Simplify phi2 into phi2 0.632 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.632 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.632 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.632 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.632 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.632 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.632 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.633 * [backup-simplify]: Simplify (- 0) into 0 0.633 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.633 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.633 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.633 * [backup-simplify]: Simplify lambda2 into lambda2 0.633 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.633 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.633 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.633 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.633 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.633 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.633 * [backup-simplify]: Simplify phi1 into phi1 0.633 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.633 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.633 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.633 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.633 * [taylor]: Taking taylor expansion of 2 in lambda1 0.633 * [backup-simplify]: Simplify 2 into 2 0.633 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.633 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.633 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.634 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.634 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.634 * [backup-simplify]: Simplify 0.5 into 0.5 0.634 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.634 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.634 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.634 * [backup-simplify]: Simplify phi1 into phi1 0.634 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.634 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.634 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.634 * [backup-simplify]: Simplify phi2 into phi2 0.634 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.634 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.634 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.634 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.634 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.634 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.634 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.635 * [backup-simplify]: Simplify (- 0) into 0 0.635 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.635 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.635 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.635 * [backup-simplify]: Simplify lambda2 into lambda2 0.635 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.635 * [backup-simplify]: Simplify 0 into 0 0.635 * [backup-simplify]: Simplify 1 into 1 0.635 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.635 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.635 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.635 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.635 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.636 * [taylor]: Taking taylor expansion of 2 in lambda1 0.636 * [backup-simplify]: Simplify 2 into 2 0.636 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.636 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.636 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.636 * [backup-simplify]: Simplify phi2 into phi2 0.636 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.636 * [backup-simplify]: Simplify phi1 into phi1 0.636 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.636 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.636 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.636 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.636 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.636 * [backup-simplify]: Simplify (+ 0) into 0 0.637 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.637 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.637 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.637 * [backup-simplify]: Simplify (+ 0 0) into 0 0.638 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.638 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.639 * [backup-simplify]: Simplify (- 0) into 0 0.639 * [backup-simplify]: Simplify (+ 0 0) into 0 0.639 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.639 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.640 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.640 * [backup-simplify]: Simplify (+ 0 0) into 0 0.641 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.641 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.641 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.641 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.642 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.642 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.642 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.642 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 0.642 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.642 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.642 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.642 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.642 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.642 * [backup-simplify]: Simplify 0.5 into 0.5 0.642 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.642 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.642 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.642 * [backup-simplify]: Simplify phi1 into phi1 0.642 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.642 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.642 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.642 * [backup-simplify]: Simplify phi2 into phi2 0.642 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.642 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.642 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.643 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.643 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.643 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.643 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.643 * [backup-simplify]: Simplify (- 0) into 0 0.643 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.643 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.643 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.643 * [backup-simplify]: Simplify 0 into 0 0.643 * [backup-simplify]: Simplify 1 into 1 0.644 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.644 * [backup-simplify]: Simplify (* 1 1) into 1 0.644 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.644 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 0.644 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.644 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.644 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.644 * [backup-simplify]: Simplify phi2 into phi2 0.644 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.644 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.644 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 0.644 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.644 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.644 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.644 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.644 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.644 * [backup-simplify]: Simplify 0.5 into 0.5 0.644 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.644 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.644 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.644 * [backup-simplify]: Simplify phi1 into phi1 0.644 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.644 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.644 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.644 * [backup-simplify]: Simplify phi2 into phi2 0.644 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.645 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.645 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.645 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.645 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.645 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.645 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.645 * [backup-simplify]: Simplify (- 0) into 0 0.645 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.645 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.645 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.645 * [backup-simplify]: Simplify lambda2 into lambda2 0.646 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.646 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.646 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.646 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.646 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.646 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.646 * [backup-simplify]: Simplify phi1 into phi1 0.646 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.646 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.646 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.646 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.646 * [taylor]: Taking taylor expansion of 2 in lambda1 0.646 * [backup-simplify]: Simplify 2 into 2 0.646 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.646 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.646 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.646 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.646 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.646 * [backup-simplify]: Simplify 0.5 into 0.5 0.646 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.646 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.646 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.646 * [backup-simplify]: Simplify phi1 into phi1 0.646 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.646 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.646 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.646 * [backup-simplify]: Simplify phi2 into phi2 0.646 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.647 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.647 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.647 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.647 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.647 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.647 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.647 * [backup-simplify]: Simplify (- 0) into 0 0.647 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.647 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.647 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.647 * [backup-simplify]: Simplify lambda2 into lambda2 0.648 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.648 * [backup-simplify]: Simplify 0 into 0 0.648 * [backup-simplify]: Simplify 1 into 1 0.648 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.648 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.648 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.648 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.648 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.648 * [taylor]: Taking taylor expansion of 2 in lambda1 0.648 * [backup-simplify]: Simplify 2 into 2 0.648 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.648 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.648 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.648 * [backup-simplify]: Simplify phi2 into phi2 0.648 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.648 * [backup-simplify]: Simplify phi1 into phi1 0.648 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.648 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.649 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.649 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.649 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.649 * [backup-simplify]: Simplify (+ 0) into 0 0.650 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.650 * [backup-simplify]: Simplify (+ 0 0) into 0 0.650 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.651 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.651 * [backup-simplify]: Simplify (- 0) into 0 0.652 * [backup-simplify]: Simplify (+ 0 0) into 0 0.652 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.652 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.653 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.653 * [backup-simplify]: Simplify (+ 0 0) into 0 0.653 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.654 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.654 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.654 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.655 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.655 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.655 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.655 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.655 * [backup-simplify]: Simplify 0.5 into 0.5 0.655 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.655 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.655 * [backup-simplify]: Simplify phi1 into phi1 0.655 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.655 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.655 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.655 * [backup-simplify]: Simplify phi2 into phi2 0.655 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.655 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.655 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.655 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.655 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.655 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 0.655 * [taylor]: Taking taylor expansion of -1 in lambda2 0.655 * [backup-simplify]: Simplify -1 into -1 0.655 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 0.655 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.655 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.655 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.655 * [backup-simplify]: Simplify 0.5 into 0.5 0.655 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.656 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.656 * [backup-simplify]: Simplify phi1 into phi1 0.656 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.656 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.656 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.656 * [backup-simplify]: Simplify phi2 into phi2 0.656 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.656 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.656 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.656 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.656 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.656 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.656 * [backup-simplify]: Simplify 0 into 0 0.656 * [backup-simplify]: Simplify 1 into 1 0.656 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.656 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.656 * [backup-simplify]: Simplify (- 0) into 0 0.657 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.657 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.657 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.657 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.657 * [taylor]: Taking taylor expansion of -1 in phi1 0.657 * [backup-simplify]: Simplify -1 into -1 0.657 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.657 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.657 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.657 * [backup-simplify]: Simplify 0.5 into 0.5 0.657 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.657 * [taylor]: Taking taylor expansion of phi1 in phi1 0.657 * [backup-simplify]: Simplify 0 into 0 0.657 * [backup-simplify]: Simplify 1 into 1 0.657 * [backup-simplify]: Simplify (/ 1 1) into 1 0.657 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.657 * [taylor]: Taking taylor expansion of phi2 in phi1 0.657 * [backup-simplify]: Simplify phi2 into phi2 0.657 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.658 * [backup-simplify]: Simplify (+ 1 0) into 1 0.658 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.658 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.658 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.658 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.658 * [backup-simplify]: Simplify (- 0) into 0 0.659 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.659 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.659 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.659 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.659 * [backup-simplify]: Simplify 0.5 into 0.5 0.659 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.659 * [taylor]: Taking taylor expansion of phi1 in phi1 0.659 * [backup-simplify]: Simplify 0 into 0 0.659 * [backup-simplify]: Simplify 1 into 1 0.659 * [backup-simplify]: Simplify (/ 1 1) into 1 0.659 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.659 * [taylor]: Taking taylor expansion of phi2 in phi1 0.659 * [backup-simplify]: Simplify phi2 into phi2 0.659 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.659 * [backup-simplify]: Simplify (+ 1 0) into 1 0.660 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.660 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.661 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.661 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.661 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.661 * [backup-simplify]: Simplify (+ 0 0) into 0 0.662 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.662 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.663 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.663 * [backup-simplify]: Simplify (- 0) into 0 0.663 * [backup-simplify]: Simplify (+ 0 0) into 0 0.664 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.664 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 0.665 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.666 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 0.666 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 0.667 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 0.667 * [backup-simplify]: Simplify (+ 0) into 0 0.667 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.667 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.667 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.668 * [backup-simplify]: Simplify (+ 0 0) into 0 0.668 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.669 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.669 * [backup-simplify]: Simplify (- 0) into 0 0.669 * [backup-simplify]: Simplify (+ 0 0) into 0 0.669 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.670 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 0.670 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 0.671 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 0.671 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.671 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 0.671 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.671 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 0.673 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.673 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.673 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.673 * [backup-simplify]: Simplify 1/2 into 1/2 0.673 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.673 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.673 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 0.673 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.673 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.673 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.673 * [backup-simplify]: Simplify phi2 into phi2 0.673 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.673 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.673 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.673 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.673 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.673 * [backup-simplify]: Simplify phi1 into phi1 0.673 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.673 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.673 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.673 * [taylor]: Taking taylor expansion of 2 in lambda2 0.673 * [backup-simplify]: Simplify 2 into 2 0.673 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.673 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.673 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.673 * [backup-simplify]: Simplify phi2 into phi2 0.673 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.673 * [backup-simplify]: Simplify phi1 into phi1 0.673 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.673 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.673 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.673 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.673 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.673 * [backup-simplify]: Simplify 0.5 into 0.5 0.673 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.673 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.673 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.673 * [backup-simplify]: Simplify phi1 into phi1 0.673 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.673 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.673 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.674 * [backup-simplify]: Simplify phi2 into phi2 0.674 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.674 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.674 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.674 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.674 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.674 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.674 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.674 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.674 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.675 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.675 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.675 * [backup-simplify]: Simplify (- 0) into 0 0.675 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.675 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.676 * [backup-simplify]: Simplify (+ 0) into 0 0.676 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.676 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.676 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.676 * [backup-simplify]: Simplify (+ 0 0) into 0 0.677 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.678 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.678 * [backup-simplify]: Simplify (- 0) into 0 0.678 * [backup-simplify]: Simplify (+ 0 0) into 0 0.679 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 0.679 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.679 * [taylor]: Taking taylor expansion of 0 in phi1 0.679 * [backup-simplify]: Simplify 0 into 0 0.679 * [backup-simplify]: Simplify (+ 0) into 0 0.680 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.680 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.680 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.680 * [backup-simplify]: Simplify (+ 0 0) into 0 0.680 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.681 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.681 * [backup-simplify]: Simplify (- 0) into 0 0.682 * [backup-simplify]: Simplify (+ 0 0) into 0 0.682 * [taylor]: Taking taylor expansion of 0 in phi1 0.682 * [backup-simplify]: Simplify 0 into 0 0.682 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.682 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.682 * [taylor]: Taking taylor expansion of -1 in phi2 0.682 * [backup-simplify]: Simplify -1 into -1 0.682 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.682 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.682 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.682 * [backup-simplify]: Simplify 0.5 into 0.5 0.682 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.682 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.682 * [taylor]: Taking taylor expansion of phi1 in phi2 0.682 * [backup-simplify]: Simplify phi1 into phi1 0.682 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.682 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.682 * [taylor]: Taking taylor expansion of phi2 in phi2 0.682 * [backup-simplify]: Simplify 0 into 0 0.682 * [backup-simplify]: Simplify 1 into 1 0.682 * [backup-simplify]: Simplify (/ 1 1) into 1 0.683 * [backup-simplify]: Simplify (+ 0 1) into 1 0.683 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.683 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.683 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.683 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.683 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.683 * [backup-simplify]: Simplify 0.5 into 0.5 0.683 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.683 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.683 * [taylor]: Taking taylor expansion of phi1 in phi2 0.683 * [backup-simplify]: Simplify phi1 into phi1 0.683 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.683 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.683 * [taylor]: Taking taylor expansion of phi2 in phi2 0.683 * [backup-simplify]: Simplify 0 into 0 0.683 * [backup-simplify]: Simplify 1 into 1 0.684 * [backup-simplify]: Simplify (/ 1 1) into 1 0.684 * [backup-simplify]: Simplify (+ 0 1) into 1 0.684 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.684 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.685 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 0.685 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.686 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.686 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.686 * [backup-simplify]: Simplify (+ 0 0) into 0 0.687 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 0.688 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 0.688 * [backup-simplify]: Simplify (- 0) into 0 0.689 * [backup-simplify]: Simplify (+ 0 0) into 0 0.689 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 0.690 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.691 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.691 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.691 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 0.692 * [backup-simplify]: Simplify (+ 0) into 0 0.692 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.692 * [backup-simplify]: Simplify (+ 0 0) into 0 0.693 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.694 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.694 * [backup-simplify]: Simplify (- 0) into 0 0.694 * [backup-simplify]: Simplify (+ 0 0) into 0 0.694 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.694 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.695 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 0.695 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.695 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 0.695 * [backup-simplify]: Simplify (+ 0 0) into 0 0.695 * [backup-simplify]: Simplify (+ 0 0) into 0 0.696 * [backup-simplify]: Simplify (+ 0 0) into 0 0.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.697 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.697 * [backup-simplify]: Simplify (+ 0 0) into 0 0.698 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.698 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.699 * [backup-simplify]: Simplify (- 0) into 0 0.699 * [backup-simplify]: Simplify (+ 0 0) into 0 0.699 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.700 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 0.700 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 0.701 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 0.701 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.701 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 0.701 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 0.702 * [backup-simplify]: Simplify (+ 0 0) into 0 0.702 * [backup-simplify]: Simplify (- 0) into 0 0.702 * [backup-simplify]: Simplify (+ 0 0) into 0 0.703 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.703 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.703 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.703 * [backup-simplify]: Simplify 1/2 into 1/2 0.703 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.703 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 0.703 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 0.703 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 0.703 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 0.703 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.703 * [backup-simplify]: Simplify 0 into 0 0.703 * [backup-simplify]: Simplify 1 into 1 0.703 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.703 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.703 * [backup-simplify]: Simplify phi1 into phi1 0.703 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.703 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 0.703 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.704 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 0.704 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.704 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 0.704 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 0.704 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.704 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.704 * [backup-simplify]: Simplify phi2 into phi2 0.704 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.704 * [backup-simplify]: Simplify 0 into 0 0.704 * [backup-simplify]: Simplify 1 into 1 0.704 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.704 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 0.704 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.704 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 0.704 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.704 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 0.704 * [taylor]: Taking taylor expansion of 2 in lambda2 0.704 * [backup-simplify]: Simplify 2 into 2 0.704 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 0.704 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 0.704 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.705 * [backup-simplify]: Simplify phi2 into phi2 0.705 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 0.705 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.705 * [backup-simplify]: Simplify 0 into 0 0.705 * [backup-simplify]: Simplify 1 into 1 0.705 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.705 * [backup-simplify]: Simplify phi1 into phi1 0.705 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.705 * [backup-simplify]: Simplify (* phi2 0) into 0 0.705 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.705 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 0.705 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.705 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.705 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.705 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.705 * [backup-simplify]: Simplify 0.5 into 0.5 0.705 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.705 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.705 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.705 * [backup-simplify]: Simplify phi1 into phi1 0.705 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.705 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.705 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.705 * [backup-simplify]: Simplify phi2 into phi2 0.706 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.706 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.706 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.706 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.706 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.706 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.706 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.706 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.706 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.707 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.707 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.707 * [backup-simplify]: Simplify (- 0) into 0 0.707 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.707 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.708 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.708 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 0.708 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.708 * [backup-simplify]: Simplify 1/2 into 1/2 0.708 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.708 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.708 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.708 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.708 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.708 * [taylor]: Taking taylor expansion of phi2 in phi1 0.708 * [backup-simplify]: Simplify phi2 into phi2 0.708 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.708 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.708 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.708 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.708 * [taylor]: Taking taylor expansion of phi1 in phi1 0.708 * [backup-simplify]: Simplify 0 into 0 0.708 * [backup-simplify]: Simplify 1 into 1 0.708 * [backup-simplify]: Simplify (* 1 1) into 1 0.709 * [backup-simplify]: Simplify (/ 1 1) into 1 0.709 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.709 * [taylor]: Taking taylor expansion of 2 in phi1 0.709 * [backup-simplify]: Simplify 2 into 2 0.709 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.709 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.709 * [taylor]: Taking taylor expansion of phi2 in phi1 0.709 * [backup-simplify]: Simplify phi2 into phi2 0.709 * [taylor]: Taking taylor expansion of phi1 in phi1 0.709 * [backup-simplify]: Simplify 0 into 0 0.709 * [backup-simplify]: Simplify 1 into 1 0.709 * [backup-simplify]: Simplify (* phi2 0) into 0 0.712 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.712 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.712 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.712 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.712 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.712 * [backup-simplify]: Simplify 0.5 into 0.5 0.712 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.712 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.712 * [taylor]: Taking taylor expansion of phi1 in phi1 0.712 * [backup-simplify]: Simplify 0 into 0 0.712 * [backup-simplify]: Simplify 1 into 1 0.713 * [backup-simplify]: Simplify (/ 1 1) into 1 0.713 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.713 * [taylor]: Taking taylor expansion of phi2 in phi1 0.713 * [backup-simplify]: Simplify phi2 into phi2 0.713 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.713 * [backup-simplify]: Simplify (+ 1 0) into 1 0.713 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.713 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.714 * [backup-simplify]: Simplify (+ 0 1) into 1 0.714 * [backup-simplify]: Simplify (+ 1 0) into 1 0.714 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.714 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.715 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.715 * [backup-simplify]: Simplify (+ 0 0) into 0 0.715 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.715 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.715 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.716 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 0.716 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0.716 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.716 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.716 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.716 * [taylor]: Taking taylor expansion of phi2 in phi2 0.716 * [backup-simplify]: Simplify 0 into 0 0.716 * [backup-simplify]: Simplify 1 into 1 0.716 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.716 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.716 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.716 * [backup-simplify]: Simplify 0.5 into 0.5 0.716 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.716 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.716 * [taylor]: Taking taylor expansion of phi1 in phi2 0.716 * [backup-simplify]: Simplify phi1 into phi1 0.716 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.716 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.716 * [taylor]: Taking taylor expansion of phi2 in phi2 0.716 * [backup-simplify]: Simplify 0 into 0 0.716 * [backup-simplify]: Simplify 1 into 1 0.717 * [backup-simplify]: Simplify (/ 1 1) into 1 0.717 * [backup-simplify]: Simplify (+ 0 1) into 1 0.717 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.717 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.717 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.718 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.718 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.718 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.718 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.719 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.719 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 0.719 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.719 * [backup-simplify]: Simplify 1/2 into 1/2 0.719 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.719 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.719 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.719 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.719 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.719 * [taylor]: Taking taylor expansion of phi2 in phi1 0.719 * [backup-simplify]: Simplify phi2 into phi2 0.719 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.719 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.719 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.719 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.719 * [taylor]: Taking taylor expansion of phi1 in phi1 0.719 * [backup-simplify]: Simplify 0 into 0 0.719 * [backup-simplify]: Simplify 1 into 1 0.719 * [backup-simplify]: Simplify (* 1 1) into 1 0.719 * [backup-simplify]: Simplify (/ 1 1) into 1 0.720 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.720 * [taylor]: Taking taylor expansion of 2 in phi1 0.720 * [backup-simplify]: Simplify 2 into 2 0.720 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.720 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.720 * [taylor]: Taking taylor expansion of phi2 in phi1 0.720 * [backup-simplify]: Simplify phi2 into phi2 0.720 * [taylor]: Taking taylor expansion of phi1 in phi1 0.720 * [backup-simplify]: Simplify 0 into 0 0.720 * [backup-simplify]: Simplify 1 into 1 0.720 * [backup-simplify]: Simplify (* phi2 0) into 0 0.720 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.720 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.720 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.720 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.720 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.720 * [backup-simplify]: Simplify 0.5 into 0.5 0.720 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.720 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.720 * [taylor]: Taking taylor expansion of phi1 in phi1 0.720 * [backup-simplify]: Simplify 0 into 0 0.720 * [backup-simplify]: Simplify 1 into 1 0.720 * [backup-simplify]: Simplify (/ 1 1) into 1 0.720 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.720 * [taylor]: Taking taylor expansion of phi2 in phi1 0.720 * [backup-simplify]: Simplify phi2 into phi2 0.720 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.721 * [backup-simplify]: Simplify (+ 1 0) into 1 0.721 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.721 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.721 * [backup-simplify]: Simplify (+ 0 1) into 1 0.722 * [backup-simplify]: Simplify (+ 1 0) into 1 0.722 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.722 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.723 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.723 * [backup-simplify]: Simplify (+ 0 0) into 0 0.723 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.723 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.723 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.723 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 0.724 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0.724 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.724 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.724 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.724 * [taylor]: Taking taylor expansion of phi2 in phi2 0.724 * [backup-simplify]: Simplify 0 into 0 0.724 * [backup-simplify]: Simplify 1 into 1 0.724 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.724 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.724 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.724 * [backup-simplify]: Simplify 0.5 into 0.5 0.724 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.724 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.724 * [taylor]: Taking taylor expansion of phi1 in phi2 0.724 * [backup-simplify]: Simplify phi1 into phi1 0.724 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.724 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.724 * [taylor]: Taking taylor expansion of phi2 in phi2 0.724 * [backup-simplify]: Simplify 0 into 0 0.724 * [backup-simplify]: Simplify 1 into 1 0.724 * [backup-simplify]: Simplify (/ 1 1) into 1 0.724 * [backup-simplify]: Simplify (+ 0 1) into 1 0.725 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.725 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.725 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.725 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.725 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.726 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.726 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.726 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.727 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.727 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.727 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.727 * [backup-simplify]: Simplify (+ 0 0) into 0 0.728 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.728 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.729 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.729 * [backup-simplify]: Simplify (- 0) into 0 0.729 * [backup-simplify]: Simplify (+ 0 0) into 0 0.730 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.731 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.731 * [taylor]: Taking taylor expansion of 0 in phi1 0.731 * [backup-simplify]: Simplify 0 into 0 0.731 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.732 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.732 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.732 * [backup-simplify]: Simplify (+ 0 0) into 0 0.733 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.733 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.733 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.734 * [backup-simplify]: Simplify (- 0) into 0 0.734 * [backup-simplify]: Simplify (+ 0 0) into 0 0.734 * [taylor]: Taking taylor expansion of 0 in phi1 0.734 * [backup-simplify]: Simplify 0 into 0 0.734 * [taylor]: Taking taylor expansion of 0 in phi2 0.734 * [backup-simplify]: Simplify 0 into 0 0.734 * [taylor]: Taking taylor expansion of 0 in phi2 0.734 * [backup-simplify]: Simplify 0 into 0 0.734 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.734 * [taylor]: Taking taylor expansion of 0 in phi2 0.734 * [backup-simplify]: Simplify 0 into 0 0.734 * [taylor]: Taking taylor expansion of 0 in phi2 0.735 * [backup-simplify]: Simplify 0 into 0 0.735 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.735 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.736 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) 0.737 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 0.737 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0 0.737 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 0.737 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 0.737 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 0.737 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 0.737 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 0.737 * [taylor]: Taking taylor expansion of phi2 in phi2 0.737 * [backup-simplify]: Simplify 0 into 0 0.737 * [backup-simplify]: Simplify 1 into 1 0.737 * [backup-simplify]: Simplify (* 1 1) into 1 0.738 * [backup-simplify]: Simplify (/ 1 1) into 1 0.738 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 0.738 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 0.738 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.738 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.738 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.738 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.738 * [backup-simplify]: Simplify -0.5 into -0.5 0.738 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.738 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.738 * [taylor]: Taking taylor expansion of phi1 in phi2 0.738 * [backup-simplify]: Simplify phi1 into phi1 0.738 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.738 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.738 * [taylor]: Taking taylor expansion of phi2 in phi2 0.738 * [backup-simplify]: Simplify 0 into 0 0.738 * [backup-simplify]: Simplify 1 into 1 0.738 * [backup-simplify]: Simplify (/ 1 1) into 1 0.738 * [backup-simplify]: Simplify (+ 0 1) into 1 0.739 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.739 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.739 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 0.739 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.739 * [backup-simplify]: Simplify lambda2 into lambda2 0.739 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.739 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.739 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.739 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 0.739 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 0.739 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.739 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.739 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.740 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.740 * [backup-simplify]: Simplify -0.5 into -0.5 0.740 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.740 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.740 * [taylor]: Taking taylor expansion of phi1 in phi2 0.740 * [backup-simplify]: Simplify phi1 into phi1 0.740 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.740 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.740 * [taylor]: Taking taylor expansion of phi2 in phi2 0.740 * [backup-simplify]: Simplify 0 into 0 0.740 * [backup-simplify]: Simplify 1 into 1 0.740 * [backup-simplify]: Simplify (/ 1 1) into 1 0.740 * [backup-simplify]: Simplify (+ 0 1) into 1 0.741 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.741 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.741 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 0.741 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.741 * [backup-simplify]: Simplify lambda1 into lambda1 0.741 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.741 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.741 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.741 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 0.741 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 0.741 * [taylor]: Taking taylor expansion of phi1 in phi2 0.741 * [backup-simplify]: Simplify phi1 into phi1 0.742 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.742 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.742 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 0.742 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 0.742 * [taylor]: Taking taylor expansion of 2 in phi2 0.742 * [backup-simplify]: Simplify 2 into 2 0.742 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 0.742 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.742 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.742 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.742 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.742 * [backup-simplify]: Simplify -0.5 into -0.5 0.742 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.742 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.742 * [taylor]: Taking taylor expansion of phi1 in phi2 0.742 * [backup-simplify]: Simplify phi1 into phi1 0.742 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.742 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.742 * [taylor]: Taking taylor expansion of phi2 in phi2 0.742 * [backup-simplify]: Simplify 0 into 0 0.742 * [backup-simplify]: Simplify 1 into 1 0.742 * [backup-simplify]: Simplify (/ 1 1) into 1 0.743 * [backup-simplify]: Simplify (+ 0 1) into 1 0.743 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.743 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.743 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 0.743 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.743 * [backup-simplify]: Simplify lambda2 into lambda2 0.743 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.743 * [backup-simplify]: Simplify lambda1 into lambda1 0.743 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.743 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.744 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.744 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 0.744 * [taylor]: Taking taylor expansion of 2 in phi2 0.744 * [backup-simplify]: Simplify 2 into 2 0.744 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 0.744 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 0.744 * [taylor]: Taking taylor expansion of phi2 in phi2 0.744 * [backup-simplify]: Simplify 0 into 0 0.744 * [backup-simplify]: Simplify 1 into 1 0.744 * [taylor]: Taking taylor expansion of phi1 in phi2 0.744 * [backup-simplify]: Simplify phi1 into phi1 0.744 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.744 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.744 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.745 * [backup-simplify]: Simplify (+ 1 0) into 1 0.745 * [backup-simplify]: Simplify (+ 1 0) into 1 0.745 * [backup-simplify]: Simplify (sqrt 1) into 1 0.746 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.746 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.746 * [backup-simplify]: Simplify (+ 0 0) into 0 0.746 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 0.746 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 0.746 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 0.747 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 0.747 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 0.747 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 0.747 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 0.747 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 0.747 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.747 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.747 * [taylor]: Taking taylor expansion of phi2 in phi1 0.747 * [backup-simplify]: Simplify phi2 into phi2 0.747 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.747 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.747 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 0.747 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 0.747 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.747 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.747 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.747 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.747 * [backup-simplify]: Simplify -0.5 into -0.5 0.747 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.747 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.748 * [taylor]: Taking taylor expansion of phi1 in phi1 0.748 * [backup-simplify]: Simplify 0 into 0 0.748 * [backup-simplify]: Simplify 1 into 1 0.748 * [backup-simplify]: Simplify (/ 1 1) into 1 0.748 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.748 * [taylor]: Taking taylor expansion of phi2 in phi1 0.748 * [backup-simplify]: Simplify phi2 into phi2 0.748 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.748 * [backup-simplify]: Simplify (+ 1 0) into 1 0.748 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.749 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.749 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 0.749 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.749 * [backup-simplify]: Simplify lambda2 into lambda2 0.749 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.749 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.749 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.749 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 0.749 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 0.749 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.749 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.749 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.749 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.749 * [backup-simplify]: Simplify -0.5 into -0.5 0.749 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.749 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.749 * [taylor]: Taking taylor expansion of phi1 in phi1 0.749 * [backup-simplify]: Simplify 0 into 0 0.749 * [backup-simplify]: Simplify 1 into 1 0.750 * [backup-simplify]: Simplify (/ 1 1) into 1 0.750 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.750 * [taylor]: Taking taylor expansion of phi2 in phi1 0.750 * [backup-simplify]: Simplify phi2 into phi2 0.750 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.750 * [backup-simplify]: Simplify (+ 1 0) into 1 0.750 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.751 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.751 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 0.751 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.751 * [backup-simplify]: Simplify lambda1 into lambda1 0.751 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.751 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.751 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.751 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.751 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.751 * [taylor]: Taking taylor expansion of phi1 in phi1 0.751 * [backup-simplify]: Simplify 0 into 0 0.751 * [backup-simplify]: Simplify 1 into 1 0.751 * [backup-simplify]: Simplify (* 1 1) into 1 0.752 * [backup-simplify]: Simplify (/ 1 1) into 1 0.752 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.752 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 0.752 * [taylor]: Taking taylor expansion of 2 in phi1 0.752 * [backup-simplify]: Simplify 2 into 2 0.752 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 0.752 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.752 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.752 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.752 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.752 * [backup-simplify]: Simplify -0.5 into -0.5 0.752 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.752 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.752 * [taylor]: Taking taylor expansion of phi1 in phi1 0.752 * [backup-simplify]: Simplify 0 into 0 0.752 * [backup-simplify]: Simplify 1 into 1 0.752 * [backup-simplify]: Simplify (/ 1 1) into 1 0.752 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.752 * [taylor]: Taking taylor expansion of phi2 in phi1 0.752 * [backup-simplify]: Simplify phi2 into phi2 0.752 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.753 * [backup-simplify]: Simplify (+ 1 0) into 1 0.753 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.753 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.753 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 0.753 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.753 * [backup-simplify]: Simplify lambda2 into lambda2 0.753 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.753 * [backup-simplify]: Simplify lambda1 into lambda1 0.753 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.753 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 0.754 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 0.754 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.754 * [taylor]: Taking taylor expansion of 2 in phi1 0.754 * [backup-simplify]: Simplify 2 into 2 0.754 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.754 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.754 * [taylor]: Taking taylor expansion of phi2 in phi1 0.754 * [backup-simplify]: Simplify phi2 into phi2 0.754 * [taylor]: Taking taylor expansion of phi1 in phi1 0.754 * [backup-simplify]: Simplify 0 into 0 0.754 * [backup-simplify]: Simplify 1 into 1 0.754 * [backup-simplify]: Simplify (* phi2 0) into 0 0.754 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.754 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.754 * [backup-simplify]: Simplify (+ 0 1) into 1 0.755 * [backup-simplify]: Simplify (+ 0 1) into 1 0.755 * [backup-simplify]: Simplify (+ 0 1) into 1 0.755 * [backup-simplify]: Simplify (+ 1 0) into 1 0.755 * [backup-simplify]: Simplify (sqrt 1) into 1 0.756 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.756 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.756 * [backup-simplify]: Simplify (+ 0 0) into 0 0.757 * [backup-simplify]: Simplify (+ 0 0) into 0 0.757 * [backup-simplify]: Simplify (+ 0 0) into 0 0.757 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.757 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 0.757 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 0.757 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.758 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 0.758 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 0.758 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 0.758 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 0.758 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.758 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.758 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.758 * [backup-simplify]: Simplify phi2 into phi2 0.758 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.758 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.758 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 0.758 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 0.758 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.758 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.758 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.758 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.758 * [backup-simplify]: Simplify -0.5 into -0.5 0.758 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.758 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.758 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.758 * [backup-simplify]: Simplify phi1 into phi1 0.758 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.758 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.758 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.758 * [backup-simplify]: Simplify phi2 into phi2 0.758 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.758 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.758 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.758 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.759 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.759 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.759 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.759 * [backup-simplify]: Simplify (- 0) into 0 0.759 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.759 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.759 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.759 * [backup-simplify]: Simplify 0 into 0 0.759 * [backup-simplify]: Simplify 1 into 1 0.759 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.760 * [backup-simplify]: Simplify (* 1 1) into 1 0.760 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.760 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 0.760 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 0.760 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.760 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.760 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.760 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.760 * [backup-simplify]: Simplify -0.5 into -0.5 0.760 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.760 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.760 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.760 * [backup-simplify]: Simplify phi1 into phi1 0.760 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.760 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.760 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.760 * [backup-simplify]: Simplify phi2 into phi2 0.760 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.760 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.760 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.761 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.761 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.761 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.761 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.761 * [backup-simplify]: Simplify (- 0) into 0 0.761 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.761 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 0.761 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.761 * [backup-simplify]: Simplify lambda1 into lambda1 0.762 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.762 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 0.762 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0.762 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.762 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.762 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.762 * [backup-simplify]: Simplify phi1 into phi1 0.762 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.762 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.762 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.762 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 0.762 * [taylor]: Taking taylor expansion of 2 in lambda2 0.762 * [backup-simplify]: Simplify 2 into 2 0.762 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 0.762 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.762 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.762 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.762 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.762 * [backup-simplify]: Simplify -0.5 into -0.5 0.762 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.762 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.762 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.762 * [backup-simplify]: Simplify phi1 into phi1 0.762 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.762 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.762 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.762 * [backup-simplify]: Simplify phi2 into phi2 0.762 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.763 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.763 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.763 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.763 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.763 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.763 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.763 * [backup-simplify]: Simplify (- 0) into 0 0.764 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.764 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 0.764 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.764 * [backup-simplify]: Simplify 0 into 0 0.764 * [backup-simplify]: Simplify 1 into 1 0.764 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.764 * [backup-simplify]: Simplify lambda1 into lambda1 0.764 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.764 * [backup-simplify]: Simplify (* 0 lambda1) into 0 0.765 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 0.765 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 0.765 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.765 * [taylor]: Taking taylor expansion of 2 in lambda2 0.765 * [backup-simplify]: Simplify 2 into 2 0.765 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.765 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.765 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.765 * [backup-simplify]: Simplify phi2 into phi2 0.765 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.765 * [backup-simplify]: Simplify phi1 into phi1 0.765 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.765 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.766 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.766 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.766 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.766 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.767 * [backup-simplify]: Simplify (+ 0) into 0 0.767 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.767 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.768 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.768 * [backup-simplify]: Simplify (+ 0 0) into 0 0.768 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.769 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.769 * [backup-simplify]: Simplify (- 0) into 0 0.770 * [backup-simplify]: Simplify (+ 0 0) into 0 0.770 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.770 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.771 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.771 * [backup-simplify]: Simplify (+ 0 0) into 0 0.771 * [backup-simplify]: Simplify (+ 0 0) into 0 0.772 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.772 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0.772 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.772 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0.773 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 0.773 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.773 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.773 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 0.773 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.773 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.773 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.773 * [backup-simplify]: Simplify phi2 into phi2 0.773 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.773 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.773 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 0.773 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.773 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.773 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.773 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.773 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.773 * [backup-simplify]: Simplify -0.5 into -0.5 0.773 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.773 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.773 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.773 * [backup-simplify]: Simplify phi1 into phi1 0.773 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.773 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.773 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.773 * [backup-simplify]: Simplify phi2 into phi2 0.774 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.774 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.774 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.774 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.774 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.774 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.774 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.774 * [backup-simplify]: Simplify (- 0) into 0 0.775 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.775 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.775 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.775 * [backup-simplify]: Simplify lambda2 into lambda2 0.775 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.775 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.775 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.775 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 0.775 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.775 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.775 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.775 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.775 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.775 * [backup-simplify]: Simplify -0.5 into -0.5 0.775 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.775 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.775 * [backup-simplify]: Simplify phi1 into phi1 0.775 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.775 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.775 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.775 * [backup-simplify]: Simplify phi2 into phi2 0.775 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.775 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.776 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.776 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.776 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.776 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.776 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.776 * [backup-simplify]: Simplify (- 0) into 0 0.776 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.776 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.776 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.776 * [backup-simplify]: Simplify 0 into 0 0.776 * [backup-simplify]: Simplify 1 into 1 0.777 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.777 * [backup-simplify]: Simplify (* 1 1) into 1 0.777 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.777 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.777 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.777 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.777 * [backup-simplify]: Simplify phi1 into phi1 0.777 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.777 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.777 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.777 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.777 * [taylor]: Taking taylor expansion of 2 in lambda1 0.777 * [backup-simplify]: Simplify 2 into 2 0.777 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.777 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.777 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.777 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.777 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.777 * [backup-simplify]: Simplify -0.5 into -0.5 0.777 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.777 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.777 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.777 * [backup-simplify]: Simplify phi1 into phi1 0.778 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.778 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.778 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.778 * [backup-simplify]: Simplify phi2 into phi2 0.778 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.778 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.778 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.778 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.778 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.778 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.778 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.778 * [backup-simplify]: Simplify (- 0) into 0 0.779 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.779 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.779 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.779 * [backup-simplify]: Simplify lambda2 into lambda2 0.779 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.779 * [backup-simplify]: Simplify 0 into 0 0.779 * [backup-simplify]: Simplify 1 into 1 0.779 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.779 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.779 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.779 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.779 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.779 * [taylor]: Taking taylor expansion of 2 in lambda1 0.779 * [backup-simplify]: Simplify 2 into 2 0.779 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.779 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.779 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.779 * [backup-simplify]: Simplify phi2 into phi2 0.779 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.780 * [backup-simplify]: Simplify phi1 into phi1 0.780 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.780 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.780 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.780 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.780 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.780 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.780 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.781 * [backup-simplify]: Simplify (+ 0) into 0 0.781 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.781 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.781 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.782 * [backup-simplify]: Simplify (+ 0 0) into 0 0.782 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.783 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 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 (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.784 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.785 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.785 * [backup-simplify]: Simplify (+ 0 0) into 0 0.785 * [backup-simplify]: Simplify (+ 0 0) into 0 0.785 * [backup-simplify]: Simplify (+ 0 0) into 0 0.785 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.786 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.786 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.786 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.787 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.787 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 0.787 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 0.787 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 0.787 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 0.787 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 0.787 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.787 * [backup-simplify]: Simplify phi2 into phi2 0.787 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.787 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.787 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 0.787 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 0.787 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.787 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.787 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.787 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.787 * [backup-simplify]: Simplify -0.5 into -0.5 0.787 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.787 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.787 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.787 * [backup-simplify]: Simplify phi1 into phi1 0.787 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.787 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.787 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.787 * [backup-simplify]: Simplify phi2 into phi2 0.787 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.787 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.787 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.788 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.788 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.788 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.788 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.788 * [backup-simplify]: Simplify (- 0) into 0 0.788 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.788 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 0.788 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.788 * [backup-simplify]: Simplify lambda2 into lambda2 0.789 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.789 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 0.789 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 0.789 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 0.789 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 0.789 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.789 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.789 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.789 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.789 * [backup-simplify]: Simplify -0.5 into -0.5 0.789 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.789 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.789 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.789 * [backup-simplify]: Simplify phi1 into phi1 0.789 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.789 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.789 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.789 * [backup-simplify]: Simplify phi2 into phi2 0.789 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.789 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.789 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.789 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.789 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.790 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.790 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.790 * [backup-simplify]: Simplify (- 0) into 0 0.790 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.790 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 0.790 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.790 * [backup-simplify]: Simplify 0 into 0 0.790 * [backup-simplify]: Simplify 1 into 1 0.790 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.791 * [backup-simplify]: Simplify (* 1 1) into 1 0.791 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.791 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 0.791 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 0.791 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.791 * [backup-simplify]: Simplify phi1 into phi1 0.791 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.791 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.791 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 0.791 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 0.791 * [taylor]: Taking taylor expansion of 2 in lambda1 0.791 * [backup-simplify]: Simplify 2 into 2 0.791 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 0.791 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.791 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.791 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.791 * [taylor]: Taking taylor expansion of -0.5 in lambda1 0.791 * [backup-simplify]: Simplify -0.5 into -0.5 0.791 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.791 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.791 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.791 * [backup-simplify]: Simplify phi1 into phi1 0.791 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.791 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.791 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.791 * [backup-simplify]: Simplify phi2 into phi2 0.791 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.792 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.792 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.792 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.792 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.792 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.792 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.792 * [backup-simplify]: Simplify (- 0) into 0 0.792 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.792 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 0.792 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.792 * [backup-simplify]: Simplify lambda2 into lambda2 0.792 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.793 * [backup-simplify]: Simplify 0 into 0 0.793 * [backup-simplify]: Simplify 1 into 1 0.793 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.793 * [backup-simplify]: Simplify (* lambda2 0) into 0 0.793 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 0.793 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 0.793 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 0.793 * [taylor]: Taking taylor expansion of 2 in lambda1 0.793 * [backup-simplify]: Simplify 2 into 2 0.793 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 0.793 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 0.793 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.793 * [backup-simplify]: Simplify phi2 into phi2 0.793 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.793 * [backup-simplify]: Simplify phi1 into phi1 0.793 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.793 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.794 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.794 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.794 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.794 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.794 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.795 * [backup-simplify]: Simplify (+ 0) into 0 0.795 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.795 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.795 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.795 * [backup-simplify]: Simplify (+ 0 0) into 0 0.796 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.797 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.797 * [backup-simplify]: Simplify (- 0) into 0 0.797 * [backup-simplify]: Simplify (+ 0 0) into 0 0.797 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.798 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.798 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 0.799 * [backup-simplify]: Simplify (+ 0 0) into 0 0.799 * [backup-simplify]: Simplify (+ 0 0) into 0 0.799 * [backup-simplify]: Simplify (+ 0 0) into 0 0.799 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.799 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0.800 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.800 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.801 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0.801 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.801 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.801 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.801 * [backup-simplify]: Simplify -0.5 into -0.5 0.801 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.801 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.801 * [backup-simplify]: Simplify phi1 into phi1 0.801 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.801 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.801 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.801 * [backup-simplify]: Simplify phi2 into phi2 0.801 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.801 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.801 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.801 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.801 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.801 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 0.801 * [taylor]: Taking taylor expansion of -1 in lambda2 0.801 * [backup-simplify]: Simplify -1 into -1 0.801 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 0.801 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.801 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.801 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.801 * [backup-simplify]: Simplify -0.5 into -0.5 0.801 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.801 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.802 * [backup-simplify]: Simplify phi1 into phi1 0.802 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.802 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.802 * [backup-simplify]: Simplify phi2 into phi2 0.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.802 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.802 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.802 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.802 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.802 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.802 * [backup-simplify]: Simplify 0 into 0 0.802 * [backup-simplify]: Simplify 1 into 1 0.802 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.802 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.803 * [backup-simplify]: Simplify (- 0) into 0 0.803 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.803 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.803 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.803 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.803 * [taylor]: Taking taylor expansion of -1 in phi1 0.803 * [backup-simplify]: Simplify -1 into -1 0.803 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.803 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.803 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.803 * [backup-simplify]: Simplify -0.5 into -0.5 0.803 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.803 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.803 * [taylor]: Taking taylor expansion of phi1 in phi1 0.803 * [backup-simplify]: Simplify 0 into 0 0.803 * [backup-simplify]: Simplify 1 into 1 0.804 * [backup-simplify]: Simplify (/ 1 1) into 1 0.804 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.804 * [taylor]: Taking taylor expansion of phi2 in phi1 0.804 * [backup-simplify]: Simplify phi2 into phi2 0.804 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.804 * [backup-simplify]: Simplify (+ 1 0) into 1 0.804 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.804 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.804 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.805 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.805 * [backup-simplify]: Simplify (- 0) into 0 0.805 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.805 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.805 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.805 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.805 * [backup-simplify]: Simplify -0.5 into -0.5 0.805 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.805 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.805 * [taylor]: Taking taylor expansion of phi1 in phi1 0.805 * [backup-simplify]: Simplify 0 into 0 0.805 * [backup-simplify]: Simplify 1 into 1 0.805 * [backup-simplify]: Simplify (/ 1 1) into 1 0.805 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.805 * [taylor]: Taking taylor expansion of phi2 in phi1 0.805 * [backup-simplify]: Simplify phi2 into phi2 0.805 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.806 * [backup-simplify]: Simplify (+ 1 0) into 1 0.806 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.806 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.807 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.808 * [backup-simplify]: Simplify (+ 0 0) into 0 0.808 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.809 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.809 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.809 * [backup-simplify]: Simplify (- 0) into 0 0.809 * [backup-simplify]: Simplify (+ 0 0) into 0 0.810 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.810 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 0.811 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.812 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 0.812 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) 0.812 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 0.815 * [backup-simplify]: Simplify (+ 0) into 0 0.816 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.816 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.816 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.817 * [backup-simplify]: Simplify (+ 0 0) into 0 0.817 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.818 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.818 * [backup-simplify]: Simplify (- 0) into 0 0.818 * [backup-simplify]: Simplify (+ 0 0) into 0 0.818 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.819 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 0.819 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 0.820 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 0.820 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.820 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 0.820 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.820 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 0.822 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.822 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.822 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.822 * [backup-simplify]: Simplify 1/2 into 1/2 0.822 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.822 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 0.822 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 0.822 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 0.822 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.822 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.822 * [backup-simplify]: Simplify phi2 into phi2 0.822 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.822 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.822 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 0.822 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.822 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.822 * [backup-simplify]: Simplify phi1 into phi1 0.822 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.822 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.822 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 0.822 * [taylor]: Taking taylor expansion of 2 in lambda2 0.822 * [backup-simplify]: Simplify 2 into 2 0.822 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 0.822 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 0.822 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.822 * [backup-simplify]: Simplify phi2 into phi2 0.822 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.822 * [backup-simplify]: Simplify phi1 into phi1 0.822 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 0.822 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.822 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.822 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.822 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.822 * [backup-simplify]: Simplify -0.5 into -0.5 0.822 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.823 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.823 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.823 * [backup-simplify]: Simplify phi1 into phi1 0.823 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.823 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.823 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.823 * [backup-simplify]: Simplify phi2 into phi2 0.823 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.823 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.823 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.823 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.823 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.823 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.823 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.823 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.824 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.824 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.824 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.824 * [backup-simplify]: Simplify (- 0) into 0 0.824 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.824 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.825 * [backup-simplify]: Simplify (+ 0) into 0 0.825 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.825 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.825 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.826 * [backup-simplify]: Simplify (+ 0 0) into 0 0.826 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.826 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.827 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.827 * [backup-simplify]: Simplify (- 0) into 0 0.827 * [backup-simplify]: Simplify (+ 0 0) into 0 0.828 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 0.828 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.828 * [taylor]: Taking taylor expansion of 0 in phi1 0.828 * [backup-simplify]: Simplify 0 into 0 0.828 * [backup-simplify]: Simplify (+ 0) into 0 0.829 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.829 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.829 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.829 * [backup-simplify]: Simplify (+ 0 0) into 0 0.830 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.830 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.831 * [backup-simplify]: Simplify (- 0) into 0 0.831 * [backup-simplify]: Simplify (+ 0 0) into 0 0.831 * [taylor]: Taking taylor expansion of 0 in phi1 0.831 * [backup-simplify]: Simplify 0 into 0 0.831 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.831 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.831 * [taylor]: Taking taylor expansion of -1 in phi2 0.831 * [backup-simplify]: Simplify -1 into -1 0.831 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.831 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.831 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.831 * [backup-simplify]: Simplify -0.5 into -0.5 0.831 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.831 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.831 * [taylor]: Taking taylor expansion of phi1 in phi2 0.831 * [backup-simplify]: Simplify phi1 into phi1 0.831 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.831 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.831 * [taylor]: Taking taylor expansion of phi2 in phi2 0.831 * [backup-simplify]: Simplify 0 into 0 0.831 * [backup-simplify]: Simplify 1 into 1 0.832 * [backup-simplify]: Simplify (/ 1 1) into 1 0.832 * [backup-simplify]: Simplify (+ 0 1) into 1 0.832 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.832 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.832 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.832 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.832 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.832 * [backup-simplify]: Simplify -0.5 into -0.5 0.832 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.832 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.832 * [taylor]: Taking taylor expansion of phi1 in phi2 0.832 * [backup-simplify]: Simplify phi1 into phi1 0.832 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.832 * [taylor]: Taking taylor expansion of phi2 in phi2 0.832 * [backup-simplify]: Simplify 0 into 0 0.832 * [backup-simplify]: Simplify 1 into 1 0.833 * [backup-simplify]: Simplify (/ 1 1) into 1 0.833 * [backup-simplify]: Simplify (+ 0 1) into 1 0.833 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.833 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.833 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.834 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 0.834 * [backup-simplify]: Simplify (+ 0) into 0 0.834 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.834 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.835 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.835 * [backup-simplify]: Simplify (+ 0 0) into 0 0.835 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.836 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.836 * [backup-simplify]: Simplify (- 0) into 0 0.836 * [backup-simplify]: Simplify (+ 0 0) into 0 0.837 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.837 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 0.837 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 0.838 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 0.839 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.839 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.839 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.839 * [backup-simplify]: Simplify (+ 0 0) into 0 0.840 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 0.841 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 0.842 * [backup-simplify]: Simplify (- 0) into 0 0.842 * [backup-simplify]: Simplify (+ 0 0) into 0 0.842 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 0.843 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 0.844 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.844 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.845 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 0.845 * [backup-simplify]: Simplify (+ 0 0) into 0 0.845 * [backup-simplify]: Simplify (+ 0 0) into 0 0.845 * [backup-simplify]: Simplify (+ 0 0) into 0 0.846 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.846 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.847 * [backup-simplify]: Simplify (+ 0 0) into 0 0.848 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.848 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.848 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.849 * [backup-simplify]: Simplify (- 0) into 0 0.849 * [backup-simplify]: Simplify (+ 0 0) into 0 0.849 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.850 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 0.850 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 0.851 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 0.851 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 0.851 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 0.852 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 0.852 * [backup-simplify]: Simplify (+ 0 0) into 0 0.852 * [backup-simplify]: Simplify (- 0) into 0 0.852 * [backup-simplify]: Simplify (+ 0 0) into 0 0.853 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.853 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 0.853 * [taylor]: Taking taylor expansion of 1/2 in lambda2 0.853 * [backup-simplify]: Simplify 1/2 into 1/2 0.853 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 0.853 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 0.853 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 0.853 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 0.853 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 0.853 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.853 * [backup-simplify]: Simplify 0 into 0 0.853 * [backup-simplify]: Simplify 1 into 1 0.853 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 0.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.853 * [backup-simplify]: Simplify phi1 into phi1 0.854 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 0.854 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 0.854 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 0.854 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 0.854 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 0.854 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 0.854 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 0.854 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 0.854 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.854 * [backup-simplify]: Simplify phi2 into phi2 0.854 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.854 * [backup-simplify]: Simplify 0 into 0 0.854 * [backup-simplify]: Simplify 1 into 1 0.854 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.854 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 0.854 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 0.855 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 0.855 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.855 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 0.855 * [taylor]: Taking taylor expansion of 2 in lambda2 0.855 * [backup-simplify]: Simplify 2 into 2 0.855 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 0.855 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 0.855 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.855 * [backup-simplify]: Simplify phi2 into phi2 0.855 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 0.855 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.855 * [backup-simplify]: Simplify 0 into 0 0.855 * [backup-simplify]: Simplify 1 into 1 0.855 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.855 * [backup-simplify]: Simplify phi1 into phi1 0.855 * [backup-simplify]: Simplify (* 0 phi1) into 0 0.855 * [backup-simplify]: Simplify (* phi2 0) into 0 0.855 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 0.856 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 0.856 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 0.856 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.856 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.856 * [taylor]: Taking taylor expansion of -0.5 in lambda2 0.856 * [backup-simplify]: Simplify -0.5 into -0.5 0.856 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.856 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.856 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.856 * [backup-simplify]: Simplify phi1 into phi1 0.856 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.856 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.856 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.856 * [backup-simplify]: Simplify phi2 into phi2 0.856 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.856 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.856 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.856 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.856 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.857 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 0.857 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 0.857 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 0.857 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) 0.857 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.857 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.858 * [backup-simplify]: Simplify (- 0) into 0 0.858 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.858 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.859 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.859 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 0.859 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.859 * [backup-simplify]: Simplify 1/2 into 1/2 0.859 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.859 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.859 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.859 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.859 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.859 * [taylor]: Taking taylor expansion of phi2 in phi1 0.859 * [backup-simplify]: Simplify phi2 into phi2 0.859 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.859 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.859 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.859 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.859 * [taylor]: Taking taylor expansion of phi1 in phi1 0.859 * [backup-simplify]: Simplify 0 into 0 0.859 * [backup-simplify]: Simplify 1 into 1 0.859 * [backup-simplify]: Simplify (* 1 1) into 1 0.859 * [backup-simplify]: Simplify (/ 1 1) into 1 0.859 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.860 * [taylor]: Taking taylor expansion of 2 in phi1 0.860 * [backup-simplify]: Simplify 2 into 2 0.860 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.860 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.860 * [taylor]: Taking taylor expansion of phi2 in phi1 0.860 * [backup-simplify]: Simplify phi2 into phi2 0.860 * [taylor]: Taking taylor expansion of phi1 in phi1 0.860 * [backup-simplify]: Simplify 0 into 0 0.860 * [backup-simplify]: Simplify 1 into 1 0.860 * [backup-simplify]: Simplify (* phi2 0) into 0 0.860 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.860 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.860 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.860 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.860 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.860 * [backup-simplify]: Simplify -0.5 into -0.5 0.860 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.860 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.860 * [taylor]: Taking taylor expansion of phi1 in phi1 0.860 * [backup-simplify]: Simplify 0 into 0 0.860 * [backup-simplify]: Simplify 1 into 1 0.860 * [backup-simplify]: Simplify (/ 1 1) into 1 0.860 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.860 * [taylor]: Taking taylor expansion of phi2 in phi1 0.860 * [backup-simplify]: Simplify phi2 into phi2 0.860 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.861 * [backup-simplify]: Simplify (+ 1 0) into 1 0.861 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.861 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.861 * [backup-simplify]: Simplify (+ 0 1) into 1 0.862 * [backup-simplify]: Simplify (+ 1 0) into 1 0.862 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.862 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.863 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.863 * [backup-simplify]: Simplify (+ 0 0) into 0 0.863 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.863 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.863 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.863 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 0.864 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0.864 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.864 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.864 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.864 * [taylor]: Taking taylor expansion of phi2 in phi2 0.864 * [backup-simplify]: Simplify 0 into 0 0.864 * [backup-simplify]: Simplify 1 into 1 0.864 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.864 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.864 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.864 * [backup-simplify]: Simplify -0.5 into -0.5 0.864 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.864 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.864 * [taylor]: Taking taylor expansion of phi1 in phi2 0.864 * [backup-simplify]: Simplify phi1 into phi1 0.864 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.864 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.864 * [taylor]: Taking taylor expansion of phi2 in phi2 0.864 * [backup-simplify]: Simplify 0 into 0 0.864 * [backup-simplify]: Simplify 1 into 1 0.864 * [backup-simplify]: Simplify (/ 1 1) into 1 0.864 * [backup-simplify]: Simplify (+ 0 1) into 1 0.865 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.865 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.865 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.865 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.865 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.866 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.866 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.866 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.866 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 0.866 * [taylor]: Taking taylor expansion of 1/2 in phi1 0.866 * [backup-simplify]: Simplify 1/2 into 1/2 0.866 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 0.866 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 0.866 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 0.866 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 0.866 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 0.866 * [taylor]: Taking taylor expansion of phi2 in phi1 0.867 * [backup-simplify]: Simplify phi2 into phi2 0.867 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 0.867 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 0.867 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 0.867 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 0.867 * [taylor]: Taking taylor expansion of phi1 in phi1 0.867 * [backup-simplify]: Simplify 0 into 0 0.867 * [backup-simplify]: Simplify 1 into 1 0.867 * [backup-simplify]: Simplify (* 1 1) into 1 0.867 * [backup-simplify]: Simplify (/ 1 1) into 1 0.867 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 0.867 * [taylor]: Taking taylor expansion of 2 in phi1 0.867 * [backup-simplify]: Simplify 2 into 2 0.867 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 0.867 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 0.867 * [taylor]: Taking taylor expansion of phi2 in phi1 0.867 * [backup-simplify]: Simplify phi2 into phi2 0.867 * [taylor]: Taking taylor expansion of phi1 in phi1 0.867 * [backup-simplify]: Simplify 0 into 0 0.867 * [backup-simplify]: Simplify 1 into 1 0.867 * [backup-simplify]: Simplify (* phi2 0) into 0 0.868 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 0.868 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.868 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.868 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.868 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.868 * [backup-simplify]: Simplify -0.5 into -0.5 0.868 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.868 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.868 * [taylor]: Taking taylor expansion of phi1 in phi1 0.868 * [backup-simplify]: Simplify 0 into 0 0.868 * [backup-simplify]: Simplify 1 into 1 0.868 * [backup-simplify]: Simplify (/ 1 1) into 1 0.868 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.868 * [taylor]: Taking taylor expansion of phi2 in phi1 0.868 * [backup-simplify]: Simplify phi2 into phi2 0.868 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.869 * [backup-simplify]: Simplify (+ 1 0) into 1 0.869 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.869 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.869 * [backup-simplify]: Simplify (+ 0 1) into 1 0.869 * [backup-simplify]: Simplify (+ 1 0) into 1 0.870 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.870 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 0.870 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.871 * [backup-simplify]: Simplify (+ 0 0) into 0 0.871 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 0.871 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 0.871 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 0.871 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 0.871 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 0.871 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 0.871 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 0.872 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 0.872 * [taylor]: Taking taylor expansion of phi2 in phi2 0.872 * [backup-simplify]: Simplify 0 into 0 0.872 * [backup-simplify]: Simplify 1 into 1 0.872 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.872 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.872 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.872 * [backup-simplify]: Simplify -0.5 into -0.5 0.872 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.872 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.872 * [taylor]: Taking taylor expansion of phi1 in phi2 0.872 * [backup-simplify]: Simplify phi1 into phi1 0.872 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.872 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.872 * [taylor]: Taking taylor expansion of phi2 in phi2 0.872 * [backup-simplify]: Simplify 0 into 0 0.872 * [backup-simplify]: Simplify 1 into 1 0.872 * [backup-simplify]: Simplify (/ 1 1) into 1 0.872 * [backup-simplify]: Simplify (+ 0 1) into 1 0.873 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.873 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.873 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.873 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.873 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.873 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.873 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 0.874 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.875 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.875 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.875 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.875 * [backup-simplify]: Simplify (+ 0 0) into 0 0.876 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.876 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.876 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.877 * [backup-simplify]: Simplify (- 0) into 0 0.877 * [backup-simplify]: Simplify (+ 0 0) into 0 0.878 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.878 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.878 * [taylor]: Taking taylor expansion of 0 in phi1 0.878 * [backup-simplify]: Simplify 0 into 0 0.879 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.879 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.880 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.880 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.880 * [backup-simplify]: Simplify (+ 0 0) into 0 0.881 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.881 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.881 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.882 * [backup-simplify]: Simplify (- 0) into 0 0.882 * [backup-simplify]: Simplify (+ 0 0) into 0 0.882 * [taylor]: Taking taylor expansion of 0 in phi1 0.882 * [backup-simplify]: Simplify 0 into 0 0.882 * [taylor]: Taking taylor expansion of 0 in phi2 0.882 * [backup-simplify]: Simplify 0 into 0 0.882 * [taylor]: Taking taylor expansion of 0 in phi2 0.882 * [backup-simplify]: Simplify 0 into 0 0.882 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.882 * [taylor]: Taking taylor expansion of 0 in phi2 0.882 * [backup-simplify]: Simplify 0 into 0 0.882 * [taylor]: Taking taylor expansion of 0 in phi2 0.882 * [backup-simplify]: Simplify 0 into 0 0.883 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.883 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0.884 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) 0.884 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2) 0.884 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 0.884 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 0.884 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.884 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.884 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.884 * [backup-simplify]: Simplify 0.5 into 0.5 0.884 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.884 * [taylor]: Taking taylor expansion of phi2 in phi2 0.884 * [backup-simplify]: Simplify 0 into 0 0.884 * [backup-simplify]: Simplify 1 into 1 0.884 * [taylor]: Taking taylor expansion of phi1 in phi2 0.884 * [backup-simplify]: Simplify phi1 into phi1 0.884 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.884 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.884 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.884 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.884 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.884 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.885 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.885 * [backup-simplify]: Simplify 0.5 into 0.5 0.885 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.885 * [taylor]: Taking taylor expansion of phi2 in phi1 0.885 * [backup-simplify]: Simplify phi2 into phi2 0.885 * [taylor]: Taking taylor expansion of phi1 in phi1 0.885 * [backup-simplify]: Simplify 0 into 0 0.885 * [backup-simplify]: Simplify 1 into 1 0.885 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.885 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.885 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.885 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.885 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.885 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.885 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.885 * [backup-simplify]: Simplify 0.5 into 0.5 0.885 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.885 * [taylor]: Taking taylor expansion of phi2 in phi1 0.885 * [backup-simplify]: Simplify phi2 into phi2 0.885 * [taylor]: Taking taylor expansion of phi1 in phi1 0.885 * [backup-simplify]: Simplify 0 into 0 0.885 * [backup-simplify]: Simplify 1 into 1 0.885 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.885 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.885 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.885 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.885 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.885 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.886 * [backup-simplify]: Simplify (- 0) into 0 0.886 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.886 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.886 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.886 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.886 * [backup-simplify]: Simplify 0.5 into 0.5 0.886 * [taylor]: Taking taylor expansion of phi2 in phi2 0.886 * [backup-simplify]: Simplify 0 into 0 0.886 * [backup-simplify]: Simplify 1 into 1 0.886 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.887 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.887 * [backup-simplify]: Simplify 1 into 1 0.887 * [backup-simplify]: Simplify (+ 0) into 0 0.888 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.888 * [backup-simplify]: Simplify (+ 0 1) into 1 0.888 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.890 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.890 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.890 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.890 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 0.890 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 0.891 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.891 * [backup-simplify]: Simplify 0.5 into 0.5 0.891 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 0.891 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.891 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.891 * [backup-simplify]: Simplify 0.5 into 0.5 0.891 * [taylor]: Taking taylor expansion of phi2 in phi2 0.891 * [backup-simplify]: Simplify 0 into 0 0.891 * [backup-simplify]: Simplify 1 into 1 0.891 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.892 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.892 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.892 * [backup-simplify]: Simplify (- 0) into 0 0.892 * [backup-simplify]: Simplify 0 into 0 0.893 * [backup-simplify]: Simplify (+ 0) into 0 0.893 * [backup-simplify]: Simplify 0 into 0 0.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 0.896 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.896 * [backup-simplify]: Simplify (+ 0 0) into 0 0.897 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 0.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.897 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 0.898 * [backup-simplify]: Simplify (- 0) into 0 0.898 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.898 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 0.898 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 0.898 * [taylor]: Taking taylor expansion of 0.125 in phi2 0.898 * [backup-simplify]: Simplify 0.125 into 0.125 0.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.898 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.898 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.898 * [backup-simplify]: Simplify 0.5 into 0.5 0.898 * [taylor]: Taking taylor expansion of phi2 in phi2 0.898 * [backup-simplify]: Simplify 0 into 0 0.898 * [backup-simplify]: Simplify 1 into 1 0.898 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.899 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.899 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 0.900 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.900 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.902 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 0.902 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.903 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.903 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) 0.904 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.904 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.904 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.904 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.904 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.904 * [backup-simplify]: Simplify 0.5 into 0.5 0.904 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.904 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.904 * [taylor]: Taking taylor expansion of phi1 in phi2 0.904 * [backup-simplify]: Simplify phi1 into phi1 0.904 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.904 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.904 * [taylor]: Taking taylor expansion of phi2 in phi2 0.904 * [backup-simplify]: Simplify 0 into 0 0.904 * [backup-simplify]: Simplify 1 into 1 0.904 * [backup-simplify]: Simplify (/ 1 1) into 1 0.904 * [backup-simplify]: Simplify (+ 0 1) into 1 0.905 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.905 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.905 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.905 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.905 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.905 * [backup-simplify]: Simplify 0.5 into 0.5 0.905 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.905 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.905 * [taylor]: Taking taylor expansion of phi1 in phi1 0.905 * [backup-simplify]: Simplify 0 into 0 0.905 * [backup-simplify]: Simplify 1 into 1 0.905 * [backup-simplify]: Simplify (/ 1 1) into 1 0.905 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.905 * [taylor]: Taking taylor expansion of phi2 in phi1 0.905 * [backup-simplify]: Simplify phi2 into phi2 0.905 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.905 * [backup-simplify]: Simplify (+ 1 0) into 1 0.906 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.906 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.906 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.906 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.906 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.906 * [backup-simplify]: Simplify 0.5 into 0.5 0.906 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.906 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.906 * [taylor]: Taking taylor expansion of phi1 in phi1 0.906 * [backup-simplify]: Simplify 0 into 0 0.906 * [backup-simplify]: Simplify 1 into 1 0.906 * [backup-simplify]: Simplify (/ 1 1) into 1 0.906 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.906 * [taylor]: Taking taylor expansion of phi2 in phi1 0.906 * [backup-simplify]: Simplify phi2 into phi2 0.906 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.907 * [backup-simplify]: Simplify (+ 1 0) into 1 0.907 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.907 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.907 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.907 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.907 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.907 * [backup-simplify]: Simplify 0.5 into 0.5 0.907 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.907 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.907 * [taylor]: Taking taylor expansion of phi1 in phi2 0.907 * [backup-simplify]: Simplify phi1 into phi1 0.907 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.907 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.907 * [taylor]: Taking taylor expansion of phi2 in phi2 0.907 * [backup-simplify]: Simplify 0 into 0 0.907 * [backup-simplify]: Simplify 1 into 1 0.908 * [backup-simplify]: Simplify (/ 1 1) into 1 0.908 * [backup-simplify]: Simplify (+ 0 1) into 1 0.908 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.908 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.908 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.908 * [taylor]: Taking taylor expansion of 0 in phi2 0.908 * [backup-simplify]: Simplify 0 into 0 0.908 * [backup-simplify]: Simplify 0 into 0 0.908 * [backup-simplify]: Simplify 0 into 0 0.908 * [taylor]: Taking taylor expansion of 0 in phi2 0.908 * [backup-simplify]: Simplify 0 into 0 0.908 * [backup-simplify]: Simplify 0 into 0 0.909 * [backup-simplify]: Simplify 0 into 0 0.909 * [backup-simplify]: Simplify 0 into 0 0.909 * [taylor]: Taking taylor expansion of 0 in phi2 0.909 * [backup-simplify]: Simplify 0 into 0 0.909 * [backup-simplify]: Simplify 0 into 0 0.909 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 0.909 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.909 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.909 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.909 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.909 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.909 * [backup-simplify]: Simplify -0.5 into -0.5 0.909 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.909 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.909 * [taylor]: Taking taylor expansion of phi1 in phi2 0.909 * [backup-simplify]: Simplify phi1 into phi1 0.909 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.909 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.909 * [taylor]: Taking taylor expansion of phi2 in phi2 0.909 * [backup-simplify]: Simplify 0 into 0 0.909 * [backup-simplify]: Simplify 1 into 1 0.912 * [backup-simplify]: Simplify (/ 1 1) into 1 0.913 * [backup-simplify]: Simplify (+ 0 1) into 1 0.913 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.913 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.913 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.913 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.913 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.913 * [backup-simplify]: Simplify -0.5 into -0.5 0.913 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.913 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.913 * [taylor]: Taking taylor expansion of phi1 in phi1 0.913 * [backup-simplify]: Simplify 0 into 0 0.913 * [backup-simplify]: Simplify 1 into 1 0.914 * [backup-simplify]: Simplify (/ 1 1) into 1 0.914 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.914 * [taylor]: Taking taylor expansion of phi2 in phi1 0.914 * [backup-simplify]: Simplify phi2 into phi2 0.914 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.914 * [backup-simplify]: Simplify (+ 1 0) into 1 0.914 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.914 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.914 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.915 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.915 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.915 * [backup-simplify]: Simplify -0.5 into -0.5 0.915 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.915 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.915 * [taylor]: Taking taylor expansion of phi1 in phi1 0.915 * [backup-simplify]: Simplify 0 into 0 0.915 * [backup-simplify]: Simplify 1 into 1 0.915 * [backup-simplify]: Simplify (/ 1 1) into 1 0.915 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.915 * [taylor]: Taking taylor expansion of phi2 in phi1 0.915 * [backup-simplify]: Simplify phi2 into phi2 0.915 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.915 * [backup-simplify]: Simplify (+ 1 0) into 1 0.915 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.916 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.916 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.916 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.916 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.916 * [backup-simplify]: Simplify -0.5 into -0.5 0.916 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.916 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.916 * [taylor]: Taking taylor expansion of phi1 in phi2 0.916 * [backup-simplify]: Simplify phi1 into phi1 0.916 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.916 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.916 * [taylor]: Taking taylor expansion of phi2 in phi2 0.916 * [backup-simplify]: Simplify 0 into 0 0.916 * [backup-simplify]: Simplify 1 into 1 0.916 * [backup-simplify]: Simplify (/ 1 1) into 1 0.916 * [backup-simplify]: Simplify (+ 0 1) into 1 0.917 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.917 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.917 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.917 * [taylor]: Taking taylor expansion of 0 in phi2 0.917 * [backup-simplify]: Simplify 0 into 0 0.917 * [backup-simplify]: Simplify 0 into 0 0.917 * [backup-simplify]: Simplify 0 into 0 0.917 * [taylor]: Taking taylor expansion of 0 in phi2 0.917 * [backup-simplify]: Simplify 0 into 0 0.917 * [backup-simplify]: Simplify 0 into 0 0.917 * [backup-simplify]: Simplify 0 into 0 0.917 * [backup-simplify]: Simplify 0 into 0 0.918 * [taylor]: Taking taylor expansion of 0 in phi2 0.918 * [backup-simplify]: Simplify 0 into 0 0.918 * [backup-simplify]: Simplify 0 into 0 0.918 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 0.918 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2) 0.918 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 0.918 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 0.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.918 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.918 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.918 * [backup-simplify]: Simplify 0.5 into 0.5 0.918 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.918 * [taylor]: Taking taylor expansion of phi2 in phi2 0.918 * [backup-simplify]: Simplify 0 into 0 0.918 * [backup-simplify]: Simplify 1 into 1 0.918 * [taylor]: Taking taylor expansion of phi1 in phi2 0.918 * [backup-simplify]: Simplify phi1 into phi1 0.918 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.918 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.918 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.918 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.918 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.918 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.918 * [backup-simplify]: Simplify 0.5 into 0.5 0.918 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.918 * [taylor]: Taking taylor expansion of phi2 in phi1 0.918 * [backup-simplify]: Simplify phi2 into phi2 0.918 * [taylor]: Taking taylor expansion of phi1 in phi1 0.919 * [backup-simplify]: Simplify 0 into 0 0.919 * [backup-simplify]: Simplify 1 into 1 0.919 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.919 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.919 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.919 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.919 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.919 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.919 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.919 * [backup-simplify]: Simplify 0.5 into 0.5 0.919 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.919 * [taylor]: Taking taylor expansion of phi2 in phi1 0.919 * [backup-simplify]: Simplify phi2 into phi2 0.919 * [taylor]: Taking taylor expansion of phi1 in phi1 0.919 * [backup-simplify]: Simplify 0 into 0 0.919 * [backup-simplify]: Simplify 1 into 1 0.919 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.919 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.919 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.919 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.919 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.919 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.920 * [backup-simplify]: Simplify (- 0) into 0 0.920 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.920 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.920 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.920 * [backup-simplify]: Simplify 0.5 into 0.5 0.920 * [taylor]: Taking taylor expansion of phi2 in phi2 0.920 * [backup-simplify]: Simplify 0 into 0 0.920 * [backup-simplify]: Simplify 1 into 1 0.920 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.921 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.921 * [backup-simplify]: Simplify 1 into 1 0.921 * [backup-simplify]: Simplify (+ 0) into 0 0.921 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 0.922 * [backup-simplify]: Simplify (+ 0 1) into 1 0.922 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 0.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.924 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 0.924 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.924 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 0.924 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 0.924 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 0.924 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.924 * [backup-simplify]: Simplify 0.5 into 0.5 0.924 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 0.924 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.924 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.924 * [backup-simplify]: Simplify 0.5 into 0.5 0.924 * [taylor]: Taking taylor expansion of phi2 in phi2 0.924 * [backup-simplify]: Simplify 0 into 0 0.924 * [backup-simplify]: Simplify 1 into 1 0.924 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.925 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.925 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.926 * [backup-simplify]: Simplify (- 0) into 0 0.926 * [backup-simplify]: Simplify 0 into 0 0.926 * [backup-simplify]: Simplify (+ 0) into 0 0.926 * [backup-simplify]: Simplify 0 into 0 0.928 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 0.928 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.929 * [backup-simplify]: Simplify (+ 0 0) into 0 0.929 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 0.930 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.930 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 0.930 * [backup-simplify]: Simplify (- 0) into 0 0.930 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 0.930 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 0.930 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 0.930 * [taylor]: Taking taylor expansion of 0.125 in phi2 0.930 * [backup-simplify]: Simplify 0.125 into 0.125 0.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.930 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.930 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.930 * [backup-simplify]: Simplify 0.5 into 0.5 0.930 * [taylor]: Taking taylor expansion of phi2 in phi2 0.930 * [backup-simplify]: Simplify 0 into 0 0.931 * [backup-simplify]: Simplify 1 into 1 0.931 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.932 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.932 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 0.932 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.932 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 0.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 0.935 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 0.935 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.935 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 0.936 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) 0.936 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.936 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.936 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.936 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.936 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.936 * [backup-simplify]: Simplify 0.5 into 0.5 0.936 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.936 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.936 * [taylor]: Taking taylor expansion of phi1 in phi2 0.936 * [backup-simplify]: Simplify phi1 into phi1 0.936 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.936 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.936 * [taylor]: Taking taylor expansion of phi2 in phi2 0.936 * [backup-simplify]: Simplify 0 into 0 0.936 * [backup-simplify]: Simplify 1 into 1 0.936 * [backup-simplify]: Simplify (/ 1 1) into 1 0.937 * [backup-simplify]: Simplify (+ 0 1) into 1 0.937 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.937 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.937 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.937 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.937 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.937 * [backup-simplify]: Simplify 0.5 into 0.5 0.937 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.937 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.937 * [taylor]: Taking taylor expansion of phi1 in phi1 0.937 * [backup-simplify]: Simplify 0 into 0 0.937 * [backup-simplify]: Simplify 1 into 1 0.937 * [backup-simplify]: Simplify (/ 1 1) into 1 0.937 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.937 * [taylor]: Taking taylor expansion of phi2 in phi1 0.937 * [backup-simplify]: Simplify phi2 into phi2 0.937 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.938 * [backup-simplify]: Simplify (+ 1 0) into 1 0.938 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.938 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.938 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.938 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.938 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.938 * [backup-simplify]: Simplify 0.5 into 0.5 0.938 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.938 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.938 * [taylor]: Taking taylor expansion of phi1 in phi1 0.938 * [backup-simplify]: Simplify 0 into 0 0.938 * [backup-simplify]: Simplify 1 into 1 0.938 * [backup-simplify]: Simplify (/ 1 1) into 1 0.939 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.939 * [taylor]: Taking taylor expansion of phi2 in phi1 0.939 * [backup-simplify]: Simplify phi2 into phi2 0.939 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.939 * [backup-simplify]: Simplify (+ 1 0) into 1 0.939 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.939 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.939 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.939 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.939 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.939 * [backup-simplify]: Simplify 0.5 into 0.5 0.939 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.939 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.939 * [taylor]: Taking taylor expansion of phi1 in phi2 0.939 * [backup-simplify]: Simplify phi1 into phi1 0.939 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.939 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.939 * [taylor]: Taking taylor expansion of phi2 in phi2 0.940 * [backup-simplify]: Simplify 0 into 0 0.940 * [backup-simplify]: Simplify 1 into 1 0.940 * [backup-simplify]: Simplify (/ 1 1) into 1 0.940 * [backup-simplify]: Simplify (+ 0 1) into 1 0.940 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.940 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.941 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.941 * [taylor]: Taking taylor expansion of 0 in phi2 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [taylor]: Taking taylor expansion of 0 in phi2 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [taylor]: Taking taylor expansion of 0 in phi2 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 0.941 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.941 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 0.941 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.941 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.941 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.941 * [backup-simplify]: Simplify -0.5 into -0.5 0.941 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.941 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.941 * [taylor]: Taking taylor expansion of phi1 in phi2 0.941 * [backup-simplify]: Simplify phi1 into phi1 0.941 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.941 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.941 * [taylor]: Taking taylor expansion of phi2 in phi2 0.941 * [backup-simplify]: Simplify 0 into 0 0.941 * [backup-simplify]: Simplify 1 into 1 0.942 * [backup-simplify]: Simplify (/ 1 1) into 1 0.942 * [backup-simplify]: Simplify (+ 0 1) into 1 0.942 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.942 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.942 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.942 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.942 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.942 * [backup-simplify]: Simplify -0.5 into -0.5 0.942 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.942 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.942 * [taylor]: Taking taylor expansion of phi1 in phi1 0.942 * [backup-simplify]: Simplify 0 into 0 0.942 * [backup-simplify]: Simplify 1 into 1 0.943 * [backup-simplify]: Simplify (/ 1 1) into 1 0.943 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.943 * [taylor]: Taking taylor expansion of phi2 in phi1 0.943 * [backup-simplify]: Simplify phi2 into phi2 0.943 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.943 * [backup-simplify]: Simplify (+ 1 0) into 1 0.943 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.943 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.943 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.943 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.943 * [taylor]: Taking taylor expansion of -0.5 in phi1 0.943 * [backup-simplify]: Simplify -0.5 into -0.5 0.943 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.943 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.943 * [taylor]: Taking taylor expansion of phi1 in phi1 0.943 * [backup-simplify]: Simplify 0 into 0 0.943 * [backup-simplify]: Simplify 1 into 1 0.944 * [backup-simplify]: Simplify (/ 1 1) into 1 0.944 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.944 * [taylor]: Taking taylor expansion of phi2 in phi1 0.944 * [backup-simplify]: Simplify phi2 into phi2 0.944 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.944 * [backup-simplify]: Simplify (+ 1 0) into 1 0.944 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.944 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.944 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.945 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.945 * [taylor]: Taking taylor expansion of -0.5 in phi2 0.945 * [backup-simplify]: Simplify -0.5 into -0.5 0.945 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.945 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.945 * [taylor]: Taking taylor expansion of phi1 in phi2 0.945 * [backup-simplify]: Simplify phi1 into phi1 0.945 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.945 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.945 * [taylor]: Taking taylor expansion of phi2 in phi2 0.945 * [backup-simplify]: Simplify 0 into 0 0.945 * [backup-simplify]: Simplify 1 into 1 0.945 * [backup-simplify]: Simplify (/ 1 1) into 1 0.945 * [backup-simplify]: Simplify (+ 0 1) into 1 0.945 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 0.946 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.946 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.946 * [taylor]: Taking taylor expansion of 0 in phi2 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [taylor]: Taking taylor expansion of 0 in phi2 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [taylor]: Taking taylor expansion of 0 in phi2 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [backup-simplify]: Simplify 0 into 0 0.946 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 0.946 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1) 0.946 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.946 * [approximate]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 0.946 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 0.947 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi2 0.947 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 0.947 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.947 * [backup-simplify]: Simplify lambda1 into lambda1 0.947 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.947 * [backup-simplify]: Simplify lambda2 into lambda2 0.947 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.947 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 0.947 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 0.947 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 0.947 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 0.947 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.947 * [backup-simplify]: Simplify 0.5 into 0.5 0.947 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 0.947 * [taylor]: Taking taylor expansion of phi2 in phi2 0.947 * [backup-simplify]: Simplify 0 into 0 0.947 * [backup-simplify]: Simplify 1 into 1 0.947 * [taylor]: Taking taylor expansion of phi1 in phi2 0.947 * [backup-simplify]: Simplify phi1 into phi1 0.947 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 0.947 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 0.947 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 0.947 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 0.947 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 0.947 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 0.947 * [backup-simplify]: Simplify (- 0) into 0 0.947 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 0.947 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.947 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi1 0.947 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 0.947 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.948 * [backup-simplify]: Simplify lambda1 into lambda1 0.948 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.948 * [backup-simplify]: Simplify lambda2 into lambda2 0.948 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.948 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 0.948 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.948 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.948 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.948 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.948 * [backup-simplify]: Simplify 0.5 into 0.5 0.948 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.948 * [taylor]: Taking taylor expansion of phi2 in phi1 0.948 * [backup-simplify]: Simplify phi2 into phi2 0.948 * [taylor]: Taking taylor expansion of phi1 in phi1 0.948 * [backup-simplify]: Simplify 0 into 0 0.948 * [backup-simplify]: Simplify 1 into 1 0.948 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.948 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.948 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.948 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.948 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.948 * [backup-simplify]: Simplify (- 0) into 0 0.948 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.948 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.948 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda2 0.948 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 0.948 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.948 * [backup-simplify]: Simplify lambda1 into lambda1 0.948 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.948 * [backup-simplify]: Simplify 0 into 0 0.948 * [backup-simplify]: Simplify 1 into 1 0.949 * [backup-simplify]: Simplify (- 0) into 0 0.949 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 0.949 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.949 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.949 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.949 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.949 * [backup-simplify]: Simplify 0.5 into 0.5 0.949 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.949 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.949 * [backup-simplify]: Simplify phi2 into phi2 0.949 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.949 * [backup-simplify]: Simplify phi1 into phi1 0.949 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.949 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.949 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.949 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.949 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.949 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.949 * [backup-simplify]: Simplify (- 0) into 0 0.950 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.950 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.950 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 0.950 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 0.950 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.950 * [backup-simplify]: Simplify 0 into 0 0.950 * [backup-simplify]: Simplify 1 into 1 0.950 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.950 * [backup-simplify]: Simplify lambda2 into lambda2 0.950 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.950 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 0.950 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.950 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.950 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.950 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.950 * [backup-simplify]: Simplify 0.5 into 0.5 0.950 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.950 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.950 * [backup-simplify]: Simplify phi2 into phi2 0.950 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.950 * [backup-simplify]: Simplify phi1 into phi1 0.950 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.950 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.950 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.950 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.950 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.950 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.951 * [backup-simplify]: Simplify (- 0) into 0 0.951 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.951 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 0.951 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 0.951 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 0.951 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.951 * [backup-simplify]: Simplify 0 into 0 0.951 * [backup-simplify]: Simplify 1 into 1 0.951 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.951 * [backup-simplify]: Simplify lambda2 into lambda2 0.951 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 0.951 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 0.951 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 0.951 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 0.951 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 0.951 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.951 * [backup-simplify]: Simplify 0.5 into 0.5 0.951 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 0.951 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.951 * [backup-simplify]: Simplify phi2 into phi2 0.951 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.951 * [backup-simplify]: Simplify phi1 into phi1 0.951 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.951 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.951 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.951 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.951 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.951 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.952 * [backup-simplify]: Simplify (- 0) into 0 0.952 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.952 * [backup-simplify]: Simplify (* (- lambda2) (- lambda2)) into (pow lambda2 2) 0.952 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.952 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.952 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.952 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 0.952 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.952 * [backup-simplify]: Simplify 0 into 0 0.952 * [backup-simplify]: Simplify 1 into 1 0.952 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.952 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.952 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.952 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.952 * [backup-simplify]: Simplify 0.5 into 0.5 0.952 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.952 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.952 * [backup-simplify]: Simplify phi2 into phi2 0.952 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.952 * [backup-simplify]: Simplify phi1 into phi1 0.952 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.952 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.952 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.953 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.953 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.953 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.953 * [backup-simplify]: Simplify (- 0) into 0 0.953 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.953 * [backup-simplify]: Simplify (+ 0) into 0 0.954 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.954 * [backup-simplify]: Simplify (+ 0 0) into 0 0.954 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.955 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.955 * [backup-simplify]: Simplify (- 0) into 0 0.955 * [backup-simplify]: Simplify (+ 0 0) into 0 0.956 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.956 * [backup-simplify]: Simplify (- 0) into 0 0.956 * [backup-simplify]: Simplify (+ 1 0) into 1 0.956 * [backup-simplify]: Simplify (+ (* (- lambda2) 1) (* 1 (- lambda2))) into (- (* 2 lambda2)) 0.956 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* (- (* 2 lambda2)) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0.956 * [taylor]: Taking taylor expansion of (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) in lambda2 0.957 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in lambda2 0.957 * [taylor]: Taking taylor expansion of 2 in lambda2 0.957 * [backup-simplify]: Simplify 2 into 2 0.957 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 0.957 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.957 * [backup-simplify]: Simplify 0 into 0 0.957 * [backup-simplify]: Simplify 1 into 1 0.957 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.957 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.957 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.957 * [backup-simplify]: Simplify 0.5 into 0.5 0.957 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.957 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.957 * [backup-simplify]: Simplify phi2 into phi2 0.957 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.957 * [backup-simplify]: Simplify phi1 into phi1 0.957 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.957 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.957 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.957 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.957 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.957 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.957 * [backup-simplify]: Simplify (- 0) into 0 0.957 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.958 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.958 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 0.958 * [backup-simplify]: Simplify (* 2 0) into 0 0.958 * [backup-simplify]: Simplify (- 0) into 0 0.958 * [taylor]: Taking taylor expansion of 0 in phi1 0.958 * [backup-simplify]: Simplify 0 into 0 0.958 * [taylor]: Taking taylor expansion of 0 in phi2 0.958 * [backup-simplify]: Simplify 0 into 0 0.958 * [backup-simplify]: Simplify 0 into 0 0.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.959 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 0.960 * [backup-simplify]: Simplify (+ 0 0) into 0 0.960 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 0.961 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.961 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 0.961 * [backup-simplify]: Simplify (- 0) into 0 0.961 * [backup-simplify]: Simplify (+ 0 0) into 0 0.962 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 0.962 * [backup-simplify]: Simplify (- 0) into 0 0.962 * [backup-simplify]: Simplify (+ 0 0) into 0 0.963 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 1) (* 0 (- lambda2)))) into 1 0.963 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* (- (* 2 lambda2)) 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.963 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 0.963 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 0.963 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 0.963 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.963 * [backup-simplify]: Simplify 0.5 into 0.5 0.963 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 0.963 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.963 * [backup-simplify]: Simplify phi2 into phi2 0.963 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.964 * [backup-simplify]: Simplify phi1 into phi1 0.964 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 0.964 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 0.964 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 0.964 * [backup-simplify]: Simplify (- 0) into 0 0.964 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 0.964 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.964 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.964 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.964 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.964 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.964 * [backup-simplify]: Simplify 0.5 into 0.5 0.964 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.964 * [taylor]: Taking taylor expansion of phi2 in phi1 0.964 * [backup-simplify]: Simplify phi2 into phi2 0.964 * [taylor]: Taking taylor expansion of phi1 in phi1 0.965 * [backup-simplify]: Simplify 0 into 0 0.965 * [backup-simplify]: Simplify 1 into 1 0.965 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.965 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.965 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.965 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.965 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.965 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.965 * [backup-simplify]: Simplify (- 0) into 0 0.965 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.965 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.965 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.965 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.965 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.965 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.965 * [backup-simplify]: Simplify 0.5 into 0.5 0.966 * [taylor]: Taking taylor expansion of phi2 in phi2 0.966 * [backup-simplify]: Simplify 0 into 0 0.966 * [backup-simplify]: Simplify 1 into 1 0.966 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.967 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.967 * [backup-simplify]: Simplify (* 1 1) into 1 0.967 * [backup-simplify]: Simplify 1 into 1 0.967 * [backup-simplify]: Simplify (+ 0) into 0 0.968 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 0.968 * [backup-simplify]: Simplify (+ 0 0) into 0 0.968 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 0.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.969 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 0.969 * [backup-simplify]: Simplify (- 0) into 0 0.969 * [backup-simplify]: Simplify (+ 0 0) into 0 0.970 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 0.970 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.970 * [backup-simplify]: Simplify (+ (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 0.971 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 0.971 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1 0.971 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 0.971 * [taylor]: Taking taylor expansion of 2 in phi1 0.971 * [backup-simplify]: Simplify 2 into 2 0.971 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.971 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.971 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.971 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.971 * [backup-simplify]: Simplify 0.5 into 0.5 0.971 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.971 * [taylor]: Taking taylor expansion of phi2 in phi1 0.971 * [backup-simplify]: Simplify phi2 into phi2 0.971 * [taylor]: Taking taylor expansion of phi1 in phi1 0.971 * [backup-simplify]: Simplify 0 into 0 0.971 * [backup-simplify]: Simplify 1 into 1 0.971 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.971 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.971 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.971 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.971 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.971 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.971 * [backup-simplify]: Simplify (- 0) into 0 0.971 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.972 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.972 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 phi2)) 2)) into (* 2 (pow (cos (* 0.5 phi2)) 2)) 0.972 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 phi2)) 2))) into (- (* 2 (pow (cos (* 0.5 phi2)) 2))) 0.972 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 phi2)) 2))) in phi2 0.972 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 phi2)) 2)) in phi2 0.972 * [taylor]: Taking taylor expansion of 2 in phi2 0.972 * [backup-simplify]: Simplify 2 into 2 0.972 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.972 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.972 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.972 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.972 * [backup-simplify]: Simplify 0.5 into 0.5 0.972 * [taylor]: Taking taylor expansion of phi2 in phi2 0.972 * [backup-simplify]: Simplify 0 into 0 0.972 * [backup-simplify]: Simplify 1 into 1 0.972 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.973 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.973 * [backup-simplify]: Simplify (* 1 1) into 1 0.974 * [backup-simplify]: Simplify (* 2 1) into 2 0.974 * [backup-simplify]: Simplify (- 2) into -2 0.974 * [backup-simplify]: Simplify -2 into -2 0.974 * [backup-simplify]: Simplify (* 1 1) into 1 0.974 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.974 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0.974 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 0.974 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 0.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 0.975 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.975 * [backup-simplify]: Simplify 0.5 into 0.5 0.975 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 0.975 * [taylor]: Taking taylor expansion of phi2 in phi1 0.975 * [backup-simplify]: Simplify phi2 into phi2 0.975 * [taylor]: Taking taylor expansion of phi1 in phi1 0.975 * [backup-simplify]: Simplify 0 into 0 0.975 * [backup-simplify]: Simplify 1 into 1 0.975 * [backup-simplify]: Simplify (+ phi2 0) into phi2 0.975 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 0.975 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 0.975 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 0.975 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 0.975 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 0.975 * [backup-simplify]: Simplify (- 0) into 0 0.975 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 0.975 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 0.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 0.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 0.975 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 0.975 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.975 * [backup-simplify]: Simplify 0.5 into 0.5 0.975 * [taylor]: Taking taylor expansion of phi2 in phi2 0.975 * [backup-simplify]: Simplify 0 into 0 0.975 * [backup-simplify]: Simplify 1 into 1 0.976 * [backup-simplify]: Simplify (* 0.5 0) into 0 0.977 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 0.977 * [backup-simplify]: Simplify (* 1 1) into 1 0.977 * [backup-simplify]: Simplify 1 into 1 0.977 * [backup-simplify]: Simplify (+ (* 1 (pow (* 1 (* 1 (* lambda2 1))) 2)) (+ (* -2 (* 1 (* 1 (* lambda2 lambda1)))) (* 1 (pow (* 1 (* 1 (* 1 lambda1))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 0.978 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) into (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 0.978 * [approximate]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 0.978 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 0.978 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi2 0.978 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 0.978 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 0.978 * [taylor]: Taking taylor expansion of lambda1 in phi2 0.978 * [backup-simplify]: Simplify lambda1 into lambda1 0.978 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 0.978 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 0.978 * [taylor]: Taking taylor expansion of lambda2 in phi2 0.978 * [backup-simplify]: Simplify lambda2 into lambda2 0.978 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.978 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 0.978 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 0.978 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 0.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 0.978 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 0.978 * [taylor]: Taking taylor expansion of 0.5 in phi2 0.978 * [backup-simplify]: Simplify 0.5 into 0.5 0.978 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 0.978 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 0.978 * [taylor]: Taking taylor expansion of phi1 in phi2 0.978 * [backup-simplify]: Simplify phi1 into phi1 0.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 0.978 * [taylor]: Taking taylor expansion of phi2 in phi2 0.978 * [backup-simplify]: Simplify 0 into 0 0.978 * [backup-simplify]: Simplify 1 into 1 0.978 * [backup-simplify]: Simplify (/ 1 1) into 1 0.979 * [backup-simplify]: Simplify (+ 0 1) into 1 0.979 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.979 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.979 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 0.979 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi1 0.979 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 0.979 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 0.979 * [taylor]: Taking taylor expansion of lambda1 in phi1 0.979 * [backup-simplify]: Simplify lambda1 into lambda1 0.979 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 0.979 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 0.979 * [taylor]: Taking taylor expansion of lambda2 in phi1 0.979 * [backup-simplify]: Simplify lambda2 into lambda2 0.979 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.979 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 0.979 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 0.980 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 0.980 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 0.980 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 0.980 * [taylor]: Taking taylor expansion of 0.5 in phi1 0.980 * [backup-simplify]: Simplify 0.5 into 0.5 0.980 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 0.980 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 0.980 * [taylor]: Taking taylor expansion of phi1 in phi1 0.980 * [backup-simplify]: Simplify 0 into 0 0.980 * [backup-simplify]: Simplify 1 into 1 0.980 * [backup-simplify]: Simplify (/ 1 1) into 1 0.980 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 0.980 * [taylor]: Taking taylor expansion of phi2 in phi1 0.980 * [backup-simplify]: Simplify phi2 into phi2 0.980 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.980 * [backup-simplify]: Simplify (+ 1 0) into 1 0.981 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 0.981 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.981 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2 0.981 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda2 0.981 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 0.981 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 0.981 * [taylor]: Taking taylor expansion of lambda1 in lambda2 0.981 * [backup-simplify]: Simplify lambda1 into lambda1 0.981 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 0.981 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 0.981 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.981 * [backup-simplify]: Simplify 0 into 0 0.981 * [backup-simplify]: Simplify 1 into 1 0.981 * [backup-simplify]: Simplify (/ 1 1) into 1 0.981 * [backup-simplify]: Simplify (- 1) into -1 0.982 * [backup-simplify]: Simplify (+ 0 -1) into -1 0.982 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.982 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.982 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.982 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.982 * [backup-simplify]: Simplify 0.5 into 0.5 0.982 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.982 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.982 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.982 * [backup-simplify]: Simplify phi1 into phi1 0.982 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.982 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.982 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.982 * [backup-simplify]: Simplify phi2 into phi2 0.982 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.982 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.982 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.982 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.982 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.982 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.983 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.983 * [backup-simplify]: Simplify (- 0) into 0 0.983 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.983 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 0.983 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 0.983 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 0.983 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 0.983 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.983 * [backup-simplify]: Simplify 0 into 0 0.983 * [backup-simplify]: Simplify 1 into 1 0.983 * [backup-simplify]: Simplify (/ 1 1) into 1 0.983 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 0.983 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.983 * [backup-simplify]: Simplify lambda2 into lambda2 0.983 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.984 * [backup-simplify]: Simplify (+ 1 0) into 1 0.984 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.984 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.984 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.984 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.984 * [backup-simplify]: Simplify 0.5 into 0.5 0.984 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.984 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.984 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.984 * [backup-simplify]: Simplify phi1 into phi1 0.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.984 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.984 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.984 * [backup-simplify]: Simplify phi2 into phi2 0.984 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.984 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.984 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.984 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.984 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.984 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.985 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.985 * [backup-simplify]: Simplify (- 0) into 0 0.985 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.985 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 0.985 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 0.985 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 0.985 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 0.985 * [taylor]: Taking taylor expansion of lambda1 in lambda1 0.985 * [backup-simplify]: Simplify 0 into 0 0.985 * [backup-simplify]: Simplify 1 into 1 0.985 * [backup-simplify]: Simplify (/ 1 1) into 1 0.985 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 0.985 * [taylor]: Taking taylor expansion of lambda2 in lambda1 0.985 * [backup-simplify]: Simplify lambda2 into lambda2 0.985 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 0.986 * [backup-simplify]: Simplify (+ 1 0) into 1 0.986 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 0.986 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 0.986 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 0.986 * [taylor]: Taking taylor expansion of 0.5 in lambda1 0.986 * [backup-simplify]: Simplify 0.5 into 0.5 0.986 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 0.986 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 0.986 * [taylor]: Taking taylor expansion of phi1 in lambda1 0.986 * [backup-simplify]: Simplify phi1 into phi1 0.986 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.986 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 0.986 * [taylor]: Taking taylor expansion of phi2 in lambda1 0.986 * [backup-simplify]: Simplify phi2 into phi2 0.986 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.986 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.986 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.986 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.986 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.986 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.986 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.987 * [backup-simplify]: Simplify (- 0) into 0 0.987 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.987 * [backup-simplify]: Simplify (* 1 1) into 1 0.987 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.988 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.988 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.988 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.988 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.988 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.988 * [backup-simplify]: Simplify 0.5 into 0.5 0.988 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.988 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.988 * [backup-simplify]: Simplify phi1 into phi1 0.988 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.988 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.988 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.988 * [backup-simplify]: Simplify phi2 into phi2 0.988 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.988 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.988 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.988 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.988 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.988 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.988 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.989 * [backup-simplify]: Simplify (- 0) into 0 0.989 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.989 * [backup-simplify]: Simplify (+ 0) into 0 0.989 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 0.989 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 0.990 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 0.990 * [backup-simplify]: Simplify (+ 0 0) into 0 0.990 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 0.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 0.991 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 0.991 * [backup-simplify]: Simplify (- 0) into 0 0.991 * [backup-simplify]: Simplify (+ 0 0) into 0 0.992 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 0.992 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 0.992 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 0.992 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 0.992 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 lambda2))) (* (- (/ 1 lambda2)) 1)) into (- (* 2 (/ 1 lambda2))) 0.993 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 lambda2))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0.993 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 0.993 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 0.993 * [taylor]: Taking taylor expansion of 2 in lambda2 0.993 * [backup-simplify]: Simplify 2 into 2 0.993 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 0.993 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 0.993 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 0.993 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 0.993 * [taylor]: Taking taylor expansion of 0.5 in lambda2 0.993 * [backup-simplify]: Simplify 0.5 into 0.5 0.993 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 0.993 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 0.993 * [taylor]: Taking taylor expansion of phi1 in lambda2 0.993 * [backup-simplify]: Simplify phi1 into phi1 0.993 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 0.993 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 0.993 * [taylor]: Taking taylor expansion of phi2 in lambda2 0.993 * [backup-simplify]: Simplify phi2 into phi2 0.993 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 0.993 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 0.993 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 0.993 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.994 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.994 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.994 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 0.994 * [backup-simplify]: Simplify (- 0) into 0 0.994 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0.994 * [taylor]: Taking taylor expansion of lambda2 in lambda2 0.994 * [backup-simplify]: Simplify 0 into 0 0.994 * [backup-simplify]: Simplify 1 into 1 0.994 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.995 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0.995 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 0.996 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 0.996 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 0.996 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 0.996 * [backup-simplify]: Simplify (+ 0 0) into 0 0.997 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 0.997 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 0.997 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 0.998 * [backup-simplify]: Simplify (- 0) into 0 0.998 * [backup-simplify]: Simplify (+ 0 0) into 0 0.998 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 0.999 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 0.999 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 0.999 * [backup-simplify]: Simplify (- 0) into 0 0.999 * [backup-simplify]: Simplify (+ 0 0) into 0 1.000 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) (- (/ 1 lambda2))) (* 0 1))) into (/ 1 (pow lambda2 2)) 1.001 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 lambda2))) 0) (* (/ 1 (pow lambda2 2)) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 1.001 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 1.001 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.001 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.001 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.001 * [taylor]: Taking taylor expansion of 0.5 in lambda2 1.001 * [backup-simplify]: Simplify 0.5 into 0.5 1.001 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.001 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.001 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.001 * [backup-simplify]: Simplify phi1 into phi1 1.001 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.001 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.001 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.001 * [backup-simplify]: Simplify phi2 into phi2 1.001 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.001 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.001 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.001 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.001 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.002 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.002 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.002 * [backup-simplify]: Simplify (- 0) into 0 1.002 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.002 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 1.002 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.002 * [backup-simplify]: Simplify 0 into 0 1.002 * [backup-simplify]: Simplify 1 into 1 1.002 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.002 * [backup-simplify]: Simplify (* 1 1) into 1 1.003 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.003 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.003 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.003 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.003 * [taylor]: Taking taylor expansion of 0.5 in phi1 1.003 * [backup-simplify]: Simplify 0.5 into 0.5 1.003 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.003 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.003 * [taylor]: Taking taylor expansion of phi1 in phi1 1.003 * [backup-simplify]: Simplify 0 into 0 1.003 * [backup-simplify]: Simplify 1 into 1 1.003 * [backup-simplify]: Simplify (/ 1 1) into 1 1.003 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.003 * [taylor]: Taking taylor expansion of phi2 in phi1 1.003 * [backup-simplify]: Simplify phi2 into phi2 1.003 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.003 * [backup-simplify]: Simplify (+ 1 0) into 1 1.004 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.004 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.004 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.004 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.004 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.004 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.004 * [taylor]: Taking taylor expansion of 0.5 in phi2 1.004 * [backup-simplify]: Simplify 0.5 into 0.5 1.004 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.004 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.004 * [taylor]: Taking taylor expansion of phi1 in phi2 1.004 * [backup-simplify]: Simplify phi1 into phi1 1.004 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.004 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.004 * [taylor]: Taking taylor expansion of phi2 in phi2 1.004 * [backup-simplify]: Simplify 0 into 0 1.004 * [backup-simplify]: Simplify 1 into 1 1.005 * [backup-simplify]: Simplify (/ 1 1) into 1 1.005 * [backup-simplify]: Simplify (+ 0 1) into 1 1.005 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.005 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.005 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.006 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.006 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.006 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.006 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 1.006 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 1.006 * [taylor]: Taking taylor expansion of 2 in phi1 1.006 * [backup-simplify]: Simplify 2 into 2 1.006 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.006 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.006 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.006 * [taylor]: Taking taylor expansion of 0.5 in phi1 1.006 * [backup-simplify]: Simplify 0.5 into 0.5 1.006 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.006 * [taylor]: Taking taylor expansion of phi1 in phi1 1.006 * [backup-simplify]: Simplify 0 into 0 1.006 * [backup-simplify]: Simplify 1 into 1 1.006 * [backup-simplify]: Simplify (/ 1 1) into 1 1.007 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.007 * [taylor]: Taking taylor expansion of phi2 in phi1 1.007 * [backup-simplify]: Simplify phi2 into phi2 1.007 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.007 * [backup-simplify]: Simplify (+ 1 0) into 1 1.007 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.007 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.007 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.008 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.008 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.008 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 1.008 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 1.008 * [taylor]: Taking taylor expansion of 2 in phi2 1.008 * [backup-simplify]: Simplify 2 into 2 1.008 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.008 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.008 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.008 * [taylor]: Taking taylor expansion of 0.5 in phi2 1.008 * [backup-simplify]: Simplify 0.5 into 0.5 1.008 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.008 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.008 * [taylor]: Taking taylor expansion of phi1 in phi2 1.008 * [backup-simplify]: Simplify phi1 into phi1 1.008 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.008 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.008 * [taylor]: Taking taylor expansion of phi2 in phi2 1.008 * [backup-simplify]: Simplify 0 into 0 1.008 * [backup-simplify]: Simplify 1 into 1 1.008 * [backup-simplify]: Simplify (/ 1 1) into 1 1.009 * [backup-simplify]: Simplify (+ 0 1) into 1 1.009 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.009 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.009 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.009 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.010 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.010 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.010 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.010 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.010 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.010 * [taylor]: Taking taylor expansion of 0.5 in phi1 1.010 * [backup-simplify]: Simplify 0.5 into 0.5 1.010 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.010 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.010 * [taylor]: Taking taylor expansion of phi1 in phi1 1.010 * [backup-simplify]: Simplify 0 into 0 1.010 * [backup-simplify]: Simplify 1 into 1 1.013 * [backup-simplify]: Simplify (/ 1 1) into 1 1.014 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.014 * [taylor]: Taking taylor expansion of phi2 in phi1 1.014 * [backup-simplify]: Simplify phi2 into phi2 1.014 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.014 * [backup-simplify]: Simplify (+ 1 0) into 1 1.014 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.015 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.015 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.015 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.015 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.015 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.015 * [taylor]: Taking taylor expansion of 0.5 in phi2 1.015 * [backup-simplify]: Simplify 0.5 into 0.5 1.015 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.015 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.015 * [taylor]: Taking taylor expansion of phi1 in phi2 1.015 * [backup-simplify]: Simplify phi1 into phi1 1.015 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.015 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.015 * [taylor]: Taking taylor expansion of phi2 in phi2 1.015 * [backup-simplify]: Simplify 0 into 0 1.015 * [backup-simplify]: Simplify 1 into 1 1.015 * [backup-simplify]: Simplify (/ 1 1) into 1 1.015 * [backup-simplify]: Simplify (+ 0 1) into 1 1.016 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 1.016 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.016 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.016 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.018 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1))))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) (/ 1 (/ 1 lambda1)))))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))) 2)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 1.018 * [backup-simplify]: Simplify (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.018 * [approximate]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 1.018 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 1.018 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi2 1.018 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 1.018 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 1.018 * [taylor]: Taking taylor expansion of lambda2 in phi2 1.018 * [backup-simplify]: Simplify lambda2 into lambda2 1.018 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.018 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 1.018 * [taylor]: Taking taylor expansion of lambda1 in phi2 1.018 * [backup-simplify]: Simplify lambda1 into lambda1 1.018 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 1.018 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 1.018 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 1.018 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.019 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.019 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.019 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.019 * [backup-simplify]: Simplify -0.5 into -0.5 1.019 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.019 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.019 * [taylor]: Taking taylor expansion of phi1 in phi2 1.019 * [backup-simplify]: Simplify phi1 into phi1 1.019 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.019 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.019 * [taylor]: Taking taylor expansion of phi2 in phi2 1.019 * [backup-simplify]: Simplify 0 into 0 1.019 * [backup-simplify]: Simplify 1 into 1 1.019 * [backup-simplify]: Simplify (/ 1 1) into 1 1.019 * [backup-simplify]: Simplify (+ 0 1) into 1 1.020 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.020 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.020 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 1.020 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi1 1.020 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 1.020 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 1.020 * [taylor]: Taking taylor expansion of lambda2 in phi1 1.020 * [backup-simplify]: Simplify lambda2 into lambda2 1.020 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.020 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 1.020 * [taylor]: Taking taylor expansion of lambda1 in phi1 1.020 * [backup-simplify]: Simplify lambda1 into lambda1 1.020 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 1.020 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 1.020 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 1.020 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.020 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.020 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.020 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.020 * [backup-simplify]: Simplify -0.5 into -0.5 1.020 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.020 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.020 * [taylor]: Taking taylor expansion of phi1 in phi1 1.020 * [backup-simplify]: Simplify 0 into 0 1.020 * [backup-simplify]: Simplify 1 into 1 1.020 * [backup-simplify]: Simplify (/ 1 1) into 1 1.020 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.021 * [taylor]: Taking taylor expansion of phi2 in phi1 1.021 * [backup-simplify]: Simplify phi2 into phi2 1.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.021 * [backup-simplify]: Simplify (+ 1 0) into 1 1.021 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.021 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.021 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2 1.021 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda2 1.021 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 1.021 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 1.021 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.021 * [backup-simplify]: Simplify 0 into 0 1.021 * [backup-simplify]: Simplify 1 into 1 1.022 * [backup-simplify]: Simplify (/ 1 1) into 1 1.022 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 1.022 * [taylor]: Taking taylor expansion of lambda1 in lambda2 1.022 * [backup-simplify]: Simplify lambda1 into lambda1 1.022 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 1.022 * [backup-simplify]: Simplify (+ 1 0) into 1 1.022 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.022 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.022 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.022 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.022 * [backup-simplify]: Simplify -0.5 into -0.5 1.022 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.022 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.022 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.022 * [backup-simplify]: Simplify phi1 into phi1 1.022 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.022 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.022 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.022 * [backup-simplify]: Simplify phi2 into phi2 1.022 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.022 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.022 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.022 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.023 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.023 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.023 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.023 * [backup-simplify]: Simplify (- 0) into 0 1.023 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.023 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 1.023 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 1.023 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 1.023 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 1.023 * [taylor]: Taking taylor expansion of lambda2 in lambda1 1.023 * [backup-simplify]: Simplify lambda2 into lambda2 1.023 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.023 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 1.023 * [taylor]: Taking taylor expansion of lambda1 in lambda1 1.023 * [backup-simplify]: Simplify 0 into 0 1.023 * [backup-simplify]: Simplify 1 into 1 1.024 * [backup-simplify]: Simplify (/ 1 1) into 1 1.024 * [backup-simplify]: Simplify (- 1) into -1 1.024 * [backup-simplify]: Simplify (+ 0 -1) into -1 1.024 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 1.024 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 1.024 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 1.024 * [taylor]: Taking taylor expansion of -0.5 in lambda1 1.024 * [backup-simplify]: Simplify -0.5 into -0.5 1.024 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 1.024 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 1.024 * [taylor]: Taking taylor expansion of phi1 in lambda1 1.024 * [backup-simplify]: Simplify phi1 into phi1 1.024 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.024 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 1.024 * [taylor]: Taking taylor expansion of phi2 in lambda1 1.024 * [backup-simplify]: Simplify phi2 into phi2 1.024 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.024 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.025 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.025 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.025 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.025 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.025 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.025 * [backup-simplify]: Simplify (- 0) into 0 1.025 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.025 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 1.025 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 1.025 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 1.025 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 1.025 * [taylor]: Taking taylor expansion of lambda2 in lambda1 1.025 * [backup-simplify]: Simplify lambda2 into lambda2 1.025 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 1.025 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 1.025 * [taylor]: Taking taylor expansion of lambda1 in lambda1 1.026 * [backup-simplify]: Simplify 0 into 0 1.026 * [backup-simplify]: Simplify 1 into 1 1.026 * [backup-simplify]: Simplify (/ 1 1) into 1 1.026 * [backup-simplify]: Simplify (- 1) into -1 1.026 * [backup-simplify]: Simplify (+ 0 -1) into -1 1.026 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 1.026 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 1.026 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 1.026 * [taylor]: Taking taylor expansion of -0.5 in lambda1 1.026 * [backup-simplify]: Simplify -0.5 into -0.5 1.026 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 1.026 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 1.026 * [taylor]: Taking taylor expansion of phi1 in lambda1 1.026 * [backup-simplify]: Simplify phi1 into phi1 1.026 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.026 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 1.026 * [taylor]: Taking taylor expansion of phi2 in lambda1 1.026 * [backup-simplify]: Simplify phi2 into phi2 1.027 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.027 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.027 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.027 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.027 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.027 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.027 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.027 * [backup-simplify]: Simplify (- 0) into 0 1.027 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.028 * [backup-simplify]: Simplify (* -1 -1) into 1 1.028 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.028 * [backup-simplify]: Simplify (* 1 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.028 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.028 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.028 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.028 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.028 * [backup-simplify]: Simplify -0.5 into -0.5 1.028 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.028 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.028 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.028 * [backup-simplify]: Simplify phi1 into phi1 1.028 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.028 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.028 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.029 * [backup-simplify]: Simplify phi2 into phi2 1.029 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.029 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.029 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.029 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.029 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.029 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.029 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.029 * [backup-simplify]: Simplify (- 0) into 0 1.029 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.030 * [backup-simplify]: Simplify (+ 0) into 0 1.030 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 1.030 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 1.030 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 1.031 * [backup-simplify]: Simplify (+ 0 0) into 0 1.031 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 1.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 1.032 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 1.032 * [backup-simplify]: Simplify (- 0) into 0 1.032 * [backup-simplify]: Simplify (+ 0 0) into 0 1.032 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 1.033 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 1.033 * [backup-simplify]: Simplify (- 0) into 0 1.033 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 1.033 * [backup-simplify]: Simplify (+ (* -1 (/ 1 lambda2)) (* (/ 1 lambda2) -1)) into (- (* 2 (/ 1 lambda2))) 1.034 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 lambda2))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 1.034 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 1.034 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 1.034 * [taylor]: Taking taylor expansion of 2 in lambda2 1.034 * [backup-simplify]: Simplify 2 into 2 1.034 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 1.034 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.034 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.034 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.034 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.034 * [backup-simplify]: Simplify -0.5 into -0.5 1.034 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.034 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.034 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.034 * [backup-simplify]: Simplify phi1 into phi1 1.034 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.034 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.034 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.034 * [backup-simplify]: Simplify phi2 into phi2 1.034 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.034 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.034 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.034 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.034 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.035 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.035 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.035 * [backup-simplify]: Simplify (- 0) into 0 1.035 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.035 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.035 * [backup-simplify]: Simplify 0 into 0 1.035 * [backup-simplify]: Simplify 1 into 1 1.035 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.035 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.036 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 1.037 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 1.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 1.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 1.037 * [backup-simplify]: Simplify (+ 0 0) into 0 1.038 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 1.038 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 1.038 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 1.039 * [backup-simplify]: Simplify (- 0) into 0 1.039 * [backup-simplify]: Simplify (+ 0 0) into 0 1.039 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 1.039 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 1.040 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 1.040 * [backup-simplify]: Simplify (- 0) into 0 1.040 * [backup-simplify]: Simplify (+ 0 0) into 0 1.041 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) (/ 1 lambda2)) (* 0 -1))) into (/ 1 (pow lambda2 2)) 1.042 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 lambda2))) 0) (* (/ 1 (pow lambda2 2)) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 1.042 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 1.042 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 1.042 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 1.042 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 1.042 * [taylor]: Taking taylor expansion of -0.5 in lambda2 1.042 * [backup-simplify]: Simplify -0.5 into -0.5 1.042 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 1.042 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 1.042 * [taylor]: Taking taylor expansion of phi1 in lambda2 1.042 * [backup-simplify]: Simplify phi1 into phi1 1.042 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.042 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 1.042 * [taylor]: Taking taylor expansion of phi2 in lambda2 1.042 * [backup-simplify]: Simplify phi2 into phi2 1.042 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.042 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 1.042 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 1.042 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.042 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.042 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.042 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 1.043 * [backup-simplify]: Simplify (- 0) into 0 1.043 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.043 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 1.043 * [taylor]: Taking taylor expansion of lambda2 in lambda2 1.043 * [backup-simplify]: Simplify 0 into 0 1.043 * [backup-simplify]: Simplify 1 into 1 1.043 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.043 * [backup-simplify]: Simplify (* 1 1) into 1 1.044 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.044 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.044 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.044 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.044 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.044 * [backup-simplify]: Simplify -0.5 into -0.5 1.044 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.044 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.044 * [taylor]: Taking taylor expansion of phi1 in phi1 1.044 * [backup-simplify]: Simplify 0 into 0 1.044 * [backup-simplify]: Simplify 1 into 1 1.044 * [backup-simplify]: Simplify (/ 1 1) into 1 1.044 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.044 * [taylor]: Taking taylor expansion of phi2 in phi1 1.044 * [backup-simplify]: Simplify phi2 into phi2 1.044 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.044 * [backup-simplify]: Simplify (+ 1 0) into 1 1.045 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.045 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.045 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.045 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.045 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.045 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.045 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.045 * [backup-simplify]: Simplify -0.5 into -0.5 1.045 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.045 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.045 * [taylor]: Taking taylor expansion of phi1 in phi2 1.045 * [backup-simplify]: Simplify phi1 into phi1 1.045 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.045 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.045 * [taylor]: Taking taylor expansion of phi2 in phi2 1.045 * [backup-simplify]: Simplify 0 into 0 1.045 * [backup-simplify]: Simplify 1 into 1 1.045 * [backup-simplify]: Simplify (/ 1 1) into 1 1.046 * [backup-simplify]: Simplify (+ 0 1) into 1 1.046 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.046 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.046 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.046 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.047 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.047 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.047 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 1.047 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 1.047 * [taylor]: Taking taylor expansion of 2 in phi1 1.047 * [backup-simplify]: Simplify 2 into 2 1.047 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.047 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.047 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.047 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.047 * [backup-simplify]: Simplify -0.5 into -0.5 1.047 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.047 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.047 * [taylor]: Taking taylor expansion of phi1 in phi1 1.047 * [backup-simplify]: Simplify 0 into 0 1.047 * [backup-simplify]: Simplify 1 into 1 1.047 * [backup-simplify]: Simplify (/ 1 1) into 1 1.047 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.047 * [taylor]: Taking taylor expansion of phi2 in phi1 1.047 * [backup-simplify]: Simplify phi2 into phi2 1.047 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.048 * [backup-simplify]: Simplify (+ 1 0) into 1 1.048 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.048 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.048 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.048 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.049 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.049 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 1.049 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 1.049 * [taylor]: Taking taylor expansion of 2 in phi2 1.049 * [backup-simplify]: Simplify 2 into 2 1.049 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.049 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.049 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.049 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.049 * [backup-simplify]: Simplify -0.5 into -0.5 1.049 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.049 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.049 * [taylor]: Taking taylor expansion of phi1 in phi2 1.049 * [backup-simplify]: Simplify phi1 into phi1 1.049 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.049 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.049 * [taylor]: Taking taylor expansion of phi2 in phi2 1.049 * [backup-simplify]: Simplify 0 into 0 1.049 * [backup-simplify]: Simplify 1 into 1 1.049 * [backup-simplify]: Simplify (/ 1 1) into 1 1.050 * [backup-simplify]: Simplify (+ 0 1) into 1 1.050 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.050 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.050 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.050 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 1.050 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.051 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 1.051 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.051 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 1.051 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 1.051 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 1.051 * [taylor]: Taking taylor expansion of -0.5 in phi1 1.051 * [backup-simplify]: Simplify -0.5 into -0.5 1.051 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 1.051 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 1.051 * [taylor]: Taking taylor expansion of phi1 in phi1 1.051 * [backup-simplify]: Simplify 0 into 0 1.051 * [backup-simplify]: Simplify 1 into 1 1.051 * [backup-simplify]: Simplify (/ 1 1) into 1 1.051 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 1.051 * [taylor]: Taking taylor expansion of phi2 in phi1 1.051 * [backup-simplify]: Simplify phi2 into phi2 1.051 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 1.052 * [backup-simplify]: Simplify (+ 1 0) into 1 1.052 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.052 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.052 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.052 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 1.052 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 1.052 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 1.052 * [taylor]: Taking taylor expansion of -0.5 in phi2 1.052 * [backup-simplify]: Simplify -0.5 into -0.5 1.052 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 1.052 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 1.052 * [taylor]: Taking taylor expansion of phi1 in phi2 1.052 * [backup-simplify]: Simplify phi1 into phi1 1.053 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 1.053 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 1.053 * [taylor]: Taking taylor expansion of phi2 in phi2 1.053 * [backup-simplify]: Simplify 0 into 0 1.053 * [backup-simplify]: Simplify 1 into 1 1.053 * [backup-simplify]: Simplify (/ 1 1) into 1 1.053 * [backup-simplify]: Simplify (+ 0 1) into 1 1.053 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 1.053 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1.054 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.054 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1.055 * [backup-simplify]: Simplify (+ (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1)))))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) (/ 1 (/ 1 (- lambda1))))))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))) 2)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 1.055 * * * [progress]: simplifying candidates 1.059 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 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h3) (cos (/ (+ h1 h0) h2)))) (+ 1 1) (+ 1 1) (+ (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2)))) (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2))))) (+ (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2)))) (log (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (+ (log (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (+ (log (- h4 h3)) (log (cos (/ (+ h1 h0) h2))))) (+ (log (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (log (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (log (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (exp (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (- h4 h3)) (- h4 h3)) (* (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (cbrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (cbrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))))) (cbrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (sqrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (sqrt (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2))))) (* (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2))) (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2)))) (* (+ (* h4 h4) (+ (* h3 h3) (* h4 h3))) (+ (* h4 h4) (+ (* h3 h3) (* h4 h3)))) (* (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2))) (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2)))) (* (+ (* h4 h4) (+ (* h3 h3) (* h4 h3))) (+ h4 h3)) (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2)))) (* (+ h4 h3) (+ (* h4 h4) (+ (* h3 h3) (* h4 h3)))) (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2)))) (* (+ h4 h3) (+ h4 h3)) (* (- h4 h3) (- h4 h3)) (* (cos (/ (+ h1 h0) h2)) (cos (/ (+ h1 h0) h2))) (* 2 1) (* 2 1) (* 2 1) (* 2 1) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (- h4 h3)) (* (cos (/ (+ h1 h0) h2)) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2)))) (* (* (- h4 h3) (cos (/ (+ h1 h0) h2))) (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2)))) (* (* (- (pow h4 3) (pow h3 3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (* (* (- (* h4 h4) (* h3 h3)) (cos (/ (+ h1 h0) h2))) (* (- h4 h3) (cos (/ (+ h1 h0) h2)))) (- h0 h1) (- (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1))))))) (+ (/ (* h0 (* h3 h1)) (* (cos (* h5 (+ h0 h1))) (pow h4 2))) (+ (/ (* h0 h1) (* (cos (* h5 (+ h0 h1))) h4)) (* h3 (cos (* h5 (+ h0 h1)))))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) (- 1 (+ (* h7 (* h0 h1)) (* h6 (pow h1 2)))) (cos (* h5 (+ h0 h1))) (cos (* h5 (+ h0 h1))) (- (+ (pow h4 2) (pow h3 2)) (* 2 (* h3 h4))) (- (+ (* (pow h3 2) (pow (cos (* h5 (+ h0 h1))) 2)) (* (pow (cos (* h5 (+ h0 h1))) 2) (pow h4 2))) (* 2 (* h3 (* (pow (cos (* h5 (+ h0 h1))) 2) h4)))) (- (+ (* (pow h3 2) (pow (cos (* h5 (+ h0 h1))) 2)) (* (pow (cos (* h5 (+ h0 h1))) 2) (pow h4 2))) (* 2 (* h3 (* (pow (cos (* h5 (+ h0 h1))) 2) h4)))) 1.109 * * * [progress]: adding candidates to table 1.609 * * [progress]: iteration 2 / 4 1.609 * * * [progress]: picking best candidate 1.627 * * * * [pick]: Picked # 1.627 * * * [progress]: localizing error 1.670 * * * [progress]: generating rewritten candidates 1.670 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 1.963 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1 1) 1.974 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2 1 1) 1.984 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 1 1 2 1) 1.997 * * * [progress]: generating series expansions 1.997 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 1.998 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) 1.998 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda2 phi2 phi1 lambda1) around 0 1.998 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 1.998 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 1.998 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1 1.998 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 1.999 * [taylor]: Taking taylor expansion of phi2 in lambda1 1.999 * [backup-simplify]: Simplify phi2 into phi2 1.999 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1 1.999 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1 1.999 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 1.999 * [taylor]: Taking taylor expansion of lambda2 in lambda1 1.999 * [backup-simplify]: Simplify lambda2 into lambda2 1.999 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 1.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 1.999 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 1.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1 1.999 * [backup-simplify]: Simplify 0.5 into 0.5 1.999 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 1.999 * [taylor]: Taking taylor expansion of phi2 in lambda1 1.999 * [backup-simplify]: Simplify phi2 into phi2 1.999 * [taylor]: Taking taylor expansion of phi1 in lambda1 1.999 * [backup-simplify]: Simplify phi1 into phi1 1.999 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 1.999 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 1.999 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 1.999 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 1.999 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 1.999 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.000 * [backup-simplify]: Simplify (- 0) into 0 2.000 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.000 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1 2.000 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 2.000 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.000 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.000 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.000 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.000 * [backup-simplify]: Simplify 0.5 into 0.5 2.000 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.000 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.000 * [backup-simplify]: Simplify phi2 into phi2 2.000 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.000 * [backup-simplify]: Simplify phi1 into phi1 2.000 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.000 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.000 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.000 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.000 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.000 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.001 * [backup-simplify]: Simplify (- 0) into 0 2.001 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.001 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.001 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.001 * [backup-simplify]: Simplify 0 into 0 2.001 * [backup-simplify]: Simplify 1 into 1 2.001 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.001 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.001 * [backup-simplify]: Simplify phi1 into phi1 2.001 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 2.001 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 2.001 * [taylor]: Taking taylor expansion of 2 in lambda1 2.001 * [backup-simplify]: Simplify 2 into 2 2.001 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.001 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.001 * [backup-simplify]: Simplify phi2 into phi2 2.001 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.001 * [backup-simplify]: Simplify phi1 into phi1 2.001 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 2.001 * [taylor]: Taking taylor expansion of 2 in lambda1 2.001 * [backup-simplify]: Simplify 2 into 2 2.001 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 2.001 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.001 * [backup-simplify]: Simplify lambda2 into lambda2 2.001 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 2.001 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 2.001 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 2.001 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 2.001 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.001 * [backup-simplify]: Simplify 0.5 into 0.5 2.001 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 2.001 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.001 * [backup-simplify]: Simplify phi2 into phi2 2.001 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.001 * [backup-simplify]: Simplify phi1 into phi1 2.001 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.001 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.001 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.001 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.001 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.002 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.002 * [backup-simplify]: Simplify (- 0) into 0 2.002 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.002 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.002 * [backup-simplify]: Simplify 0 into 0 2.002 * [backup-simplify]: Simplify 1 into 1 2.002 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.002 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.002 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.002 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 2.002 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.002 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 2.003 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) 2.003 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) 2.003 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.003 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.003 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.003 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 2.003 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.004 * [backup-simplify]: Simplify (* 2 0) into 0 2.004 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 2.004 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.004 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 2.005 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 2.005 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.005 * [backup-simplify]: Simplify (+ 0) into 0 2.006 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.006 * [backup-simplify]: Simplify (+ 0 0) into 0 2.006 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.007 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.007 * [backup-simplify]: Simplify (- 0) into 0 2.007 * [backup-simplify]: Simplify (+ 0 0) into 0 2.008 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.008 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.008 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0 2.008 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.008 * [backup-simplify]: Simplify (+ 0 0) into 0 2.011 * [backup-simplify]: Simplify (+ 0 0) into 0 2.011 * [backup-simplify]: Simplify (+ 0 0) into 0 2.011 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.011 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.012 * [backup-simplify]: Simplify (+ 0) into 0 2.012 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.012 * [backup-simplify]: Simplify (+ 0 0) into 0 2.013 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.013 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.014 * [backup-simplify]: Simplify (- 0) into 0 2.014 * [backup-simplify]: Simplify (+ 0 0) into 0 2.014 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.014 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.015 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 2.015 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 2.015 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 2.016 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.016 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.017 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2.017 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 2.017 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 2.017 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.017 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.017 * [taylor]: Taking taylor expansion of phi2 in phi1 2.017 * [backup-simplify]: Simplify phi2 into phi2 2.017 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.017 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1 2.017 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 2.017 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.017 * [backup-simplify]: Simplify lambda2 into lambda2 2.017 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.017 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.017 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.017 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.017 * [backup-simplify]: Simplify 0.5 into 0.5 2.017 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.017 * [taylor]: Taking taylor expansion of phi2 in phi1 2.017 * [backup-simplify]: Simplify phi2 into phi2 2.017 * [taylor]: Taking taylor expansion of phi1 in phi1 2.017 * [backup-simplify]: Simplify 0 into 0 2.017 * [backup-simplify]: Simplify 1 into 1 2.017 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.017 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.017 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.017 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.017 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.017 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.018 * [backup-simplify]: Simplify (- 0) into 0 2.018 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.018 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.018 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 2.018 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.018 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.018 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.018 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.018 * [backup-simplify]: Simplify 0.5 into 0.5 2.018 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.018 * [taylor]: Taking taylor expansion of phi2 in phi1 2.018 * [backup-simplify]: Simplify phi2 into phi2 2.018 * [taylor]: Taking taylor expansion of phi1 in phi1 2.018 * [backup-simplify]: Simplify 0 into 0 2.018 * [backup-simplify]: Simplify 1 into 1 2.018 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.018 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.018 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.018 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.018 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.018 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.018 * [backup-simplify]: Simplify (- 0) into 0 2.018 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.019 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.019 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.019 * [backup-simplify]: Simplify lambda1 into lambda1 2.019 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.019 * [taylor]: Taking taylor expansion of phi1 in phi1 2.019 * [backup-simplify]: Simplify 0 into 0 2.019 * [backup-simplify]: Simplify 1 into 1 2.019 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 2.019 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 2.019 * [taylor]: Taking taylor expansion of 2 in phi1 2.019 * [backup-simplify]: Simplify 2 into 2 2.019 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.019 * [taylor]: Taking taylor expansion of phi2 in phi1 2.019 * [backup-simplify]: Simplify phi2 into phi2 2.019 * [taylor]: Taking taylor expansion of phi1 in phi1 2.019 * [backup-simplify]: Simplify 0 into 0 2.019 * [backup-simplify]: Simplify 1 into 1 2.019 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 2.019 * [taylor]: Taking taylor expansion of 2 in phi1 2.019 * [backup-simplify]: Simplify 2 into 2 2.019 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 2.019 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.019 * [backup-simplify]: Simplify lambda2 into lambda2 2.019 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 2.019 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 2.019 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.019 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.019 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.019 * [backup-simplify]: Simplify 0.5 into 0.5 2.019 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.019 * [taylor]: Taking taylor expansion of phi2 in phi1 2.019 * [backup-simplify]: Simplify phi2 into phi2 2.019 * [taylor]: Taking taylor expansion of phi1 in phi1 2.019 * [backup-simplify]: Simplify 0 into 0 2.019 * [backup-simplify]: Simplify 1 into 1 2.019 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.019 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.019 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.019 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.019 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 2.019 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 2.020 * [backup-simplify]: Simplify (- 0) into 0 2.020 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 2.020 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.020 * [backup-simplify]: Simplify lambda1 into lambda1 2.020 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.020 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.020 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.020 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 2.020 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.020 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.020 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 2.020 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 2.021 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 2.021 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 2.021 * [backup-simplify]: Simplify (* phi2 0) into 0 2.022 * [backup-simplify]: Simplify (* 2 0) into 0 2.022 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 2.022 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 2.022 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 2.022 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 2.022 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 2.022 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 2.023 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 2.024 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) 2.024 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.024 * [backup-simplify]: Simplify (+ 0) into 0 2.025 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.025 * [backup-simplify]: Simplify (+ 0 1) into 1 2.025 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.027 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.027 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.027 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.027 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 2.027 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.028 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 2.028 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.028 * [backup-simplify]: Simplify (+ 0) into 0 2.028 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.029 * [backup-simplify]: Simplify (+ 0 1) into 1 2.029 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.031 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.031 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.031 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.031 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 2.032 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 2.032 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 2.032 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 2.033 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 2.033 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.033 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 2.034 * [backup-simplify]: Simplify (+ 0) into 0 2.034 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 2.034 * [backup-simplify]: Simplify (+ 0 1) into 1 2.035 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 2.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.036 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 2.036 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.037 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 2.037 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 2.037 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 2.037 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 2.038 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 2.038 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 2.038 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2)) 2.039 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) 2.041 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))))) 2.041 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 2.041 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 2.041 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2 2.041 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.041 * [taylor]: Taking taylor expansion of phi2 in phi2 2.041 * [backup-simplify]: Simplify 0 into 0 2.041 * [backup-simplify]: Simplify 1 into 1 2.041 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2 2.041 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 2.041 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 2.041 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.041 * [backup-simplify]: Simplify lambda2 into lambda2 2.041 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.041 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.041 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.041 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.041 * [backup-simplify]: Simplify 0.5 into 0.5 2.041 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.041 * [taylor]: Taking taylor expansion of phi2 in phi2 2.041 * [backup-simplify]: Simplify 0 into 0 2.041 * [backup-simplify]: Simplify 1 into 1 2.041 * [taylor]: Taking taylor expansion of phi1 in phi2 2.041 * [backup-simplify]: Simplify phi1 into phi1 2.041 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.041 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.041 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.041 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.041 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.042 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.042 * [backup-simplify]: Simplify (- 0) into 0 2.042 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.042 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2 2.042 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 2.042 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.042 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.042 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.042 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.042 * [backup-simplify]: Simplify 0.5 into 0.5 2.042 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.042 * [taylor]: Taking taylor expansion of phi2 in phi2 2.042 * [backup-simplify]: Simplify 0 into 0 2.042 * [backup-simplify]: Simplify 1 into 1 2.042 * [taylor]: Taking taylor expansion of phi1 in phi2 2.042 * [backup-simplify]: Simplify phi1 into phi1 2.042 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.042 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.042 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.042 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.042 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.042 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.043 * [backup-simplify]: Simplify (- 0) into 0 2.043 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.043 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.043 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.043 * [backup-simplify]: Simplify lambda1 into lambda1 2.043 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.043 * [taylor]: Taking taylor expansion of phi1 in phi2 2.043 * [backup-simplify]: Simplify phi1 into phi1 2.043 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 2.043 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 2.043 * [taylor]: Taking taylor expansion of 2 in phi2 2.043 * [backup-simplify]: Simplify 2 into 2 2.043 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.043 * [taylor]: Taking taylor expansion of phi2 in phi2 2.043 * [backup-simplify]: Simplify 0 into 0 2.043 * [backup-simplify]: Simplify 1 into 1 2.043 * [taylor]: Taking taylor expansion of phi1 in phi2 2.043 * [backup-simplify]: Simplify phi1 into phi1 2.043 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 2.043 * [taylor]: Taking taylor expansion of 2 in phi2 2.043 * [backup-simplify]: Simplify 2 into 2 2.043 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 2.043 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.043 * [backup-simplify]: Simplify lambda2 into lambda2 2.043 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 2.043 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.043 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.043 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.043 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.043 * [backup-simplify]: Simplify 0.5 into 0.5 2.043 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.043 * [taylor]: Taking taylor expansion of phi2 in phi2 2.043 * [backup-simplify]: Simplify 0 into 0 2.044 * [backup-simplify]: Simplify 1 into 1 2.044 * [taylor]: Taking taylor expansion of phi1 in phi2 2.044 * [backup-simplify]: Simplify phi1 into phi1 2.044 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.044 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.044 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.044 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.044 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.044 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.044 * [backup-simplify]: Simplify (- 0) into 0 2.044 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.044 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.044 * [backup-simplify]: Simplify lambda1 into lambda1 2.044 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.044 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.045 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 2.045 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.045 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.045 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.045 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.045 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.046 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.046 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.046 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.047 * [backup-simplify]: Simplify (* 2 0) into 0 2.047 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.047 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 2.047 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 2.047 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 2.047 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 2.047 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 2.048 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 2.049 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 2.049 * [backup-simplify]: Simplify (+ 0) into 0 2.050 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.050 * [backup-simplify]: Simplify (+ 1 0) into 1 2.050 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.052 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.052 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.052 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.052 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.052 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.053 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 2.053 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 2.053 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.053 * [backup-simplify]: Simplify (+ 0) into 0 2.053 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.054 * [backup-simplify]: Simplify (+ 1 0) into 1 2.054 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.055 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.056 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.056 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.056 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.056 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.057 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.057 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.057 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.057 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 2.058 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 2.058 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.058 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 2.059 * [backup-simplify]: Simplify (+ 0) into 0 2.059 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.059 * [backup-simplify]: Simplify (+ 1 0) into 1 2.060 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.061 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.061 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.062 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.062 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.062 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 2.062 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 2.063 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 2.063 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 2.063 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1)) 2.064 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 2.065 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 2.066 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 2.066 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 2.066 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 2.066 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.066 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.066 * [backup-simplify]: Simplify phi2 into phi2 2.066 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 2.066 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.066 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.066 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.066 * [backup-simplify]: Simplify 0 into 0 2.066 * [backup-simplify]: Simplify 1 into 1 2.066 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.066 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.066 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.066 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.066 * [backup-simplify]: Simplify 0.5 into 0.5 2.066 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.066 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.066 * [backup-simplify]: Simplify phi2 into phi2 2.066 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.066 * [backup-simplify]: Simplify phi1 into phi1 2.066 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.066 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.066 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.066 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.066 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.066 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.067 * [backup-simplify]: Simplify (- 0) into 0 2.067 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.067 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 2.067 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 2.067 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.067 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.067 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.067 * [backup-simplify]: Simplify 0.5 into 0.5 2.067 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.067 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.067 * [backup-simplify]: Simplify phi2 into phi2 2.067 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.067 * [backup-simplify]: Simplify phi1 into phi1 2.067 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.067 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.067 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.067 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.067 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.067 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.067 * [backup-simplify]: Simplify (- 0) into 0 2.068 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.068 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.068 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.068 * [backup-simplify]: Simplify lambda1 into lambda1 2.068 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.068 * [backup-simplify]: Simplify phi1 into phi1 2.068 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 2.068 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 2.068 * [taylor]: Taking taylor expansion of 2 in lambda2 2.068 * [backup-simplify]: Simplify 2 into 2 2.068 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.068 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.068 * [backup-simplify]: Simplify phi2 into phi2 2.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.068 * [backup-simplify]: Simplify phi1 into phi1 2.068 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 2.068 * [taylor]: Taking taylor expansion of 2 in lambda2 2.068 * [backup-simplify]: Simplify 2 into 2 2.068 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 2.068 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.068 * [backup-simplify]: Simplify 0 into 0 2.068 * [backup-simplify]: Simplify 1 into 1 2.068 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 2.068 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.068 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.068 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.068 * [backup-simplify]: Simplify 0.5 into 0.5 2.068 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.068 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.068 * [backup-simplify]: Simplify phi2 into phi2 2.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.068 * [backup-simplify]: Simplify phi1 into phi1 2.068 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.068 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.068 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.068 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.068 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.068 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.069 * [backup-simplify]: Simplify (- 0) into 0 2.069 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.069 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.069 * [backup-simplify]: Simplify lambda1 into lambda1 2.069 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.069 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.069 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.069 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 2.069 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.070 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 2.070 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 2.070 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 2.070 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.070 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.070 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.071 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 2.071 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 2.071 * [backup-simplify]: Simplify (* 2 0) into 0 2.071 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 2.071 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.072 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 2.072 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 2.072 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.072 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.073 * [backup-simplify]: Simplify (+ 0) into 0 2.073 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.073 * [backup-simplify]: Simplify (+ 0 0) into 0 2.074 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.074 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.075 * [backup-simplify]: Simplify (- 0) into 0 2.075 * [backup-simplify]: Simplify (+ 0 0) into 0 2.075 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.075 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 2.075 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.076 * [backup-simplify]: Simplify (+ 0 0) into 0 2.076 * [backup-simplify]: Simplify (+ 0 0) into 0 2.076 * [backup-simplify]: Simplify (+ 0 0) into 0 2.076 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.076 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.077 * [backup-simplify]: Simplify (+ 0) into 0 2.077 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.077 * [backup-simplify]: Simplify (+ 0 0) into 0 2.077 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.078 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.079 * [backup-simplify]: Simplify (- 0) into 0 2.079 * [backup-simplify]: Simplify (+ 0 0) into 0 2.079 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.079 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 2.079 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 2.080 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 2.080 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 2.080 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.081 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.081 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.081 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 2.081 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 2.081 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2 2.081 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.081 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.082 * [backup-simplify]: Simplify phi2 into phi2 2.082 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2 2.082 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 2.082 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.082 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.082 * [backup-simplify]: Simplify 0 into 0 2.082 * [backup-simplify]: Simplify 1 into 1 2.082 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.082 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.082 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.082 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.082 * [backup-simplify]: Simplify 0.5 into 0.5 2.082 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.082 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.082 * [backup-simplify]: Simplify phi2 into phi2 2.082 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.082 * [backup-simplify]: Simplify phi1 into phi1 2.082 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.082 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.082 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.082 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.082 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.082 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.082 * [backup-simplify]: Simplify (- 0) into 0 2.082 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.083 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2 2.083 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 2.083 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.083 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.083 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.083 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.083 * [backup-simplify]: Simplify 0.5 into 0.5 2.083 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.083 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.083 * [backup-simplify]: Simplify phi2 into phi2 2.083 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.083 * [backup-simplify]: Simplify phi1 into phi1 2.083 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.083 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.083 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.083 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.083 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.083 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.083 * [backup-simplify]: Simplify (- 0) into 0 2.083 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.083 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.083 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.083 * [backup-simplify]: Simplify lambda1 into lambda1 2.083 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.083 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.083 * [backup-simplify]: Simplify phi1 into phi1 2.083 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 2.084 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 2.084 * [taylor]: Taking taylor expansion of 2 in lambda2 2.084 * [backup-simplify]: Simplify 2 into 2 2.084 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.084 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.084 * [backup-simplify]: Simplify phi2 into phi2 2.084 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.084 * [backup-simplify]: Simplify phi1 into phi1 2.084 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 2.084 * [taylor]: Taking taylor expansion of 2 in lambda2 2.084 * [backup-simplify]: Simplify 2 into 2 2.084 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 2.084 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.084 * [backup-simplify]: Simplify 0 into 0 2.084 * [backup-simplify]: Simplify 1 into 1 2.084 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 2.084 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 2.084 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 2.084 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 2.084 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.084 * [backup-simplify]: Simplify 0.5 into 0.5 2.084 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 2.084 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.084 * [backup-simplify]: Simplify phi2 into phi2 2.084 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.084 * [backup-simplify]: Simplify phi1 into phi1 2.084 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 2.084 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 2.084 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.084 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 2.084 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 2.084 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 2.085 * [backup-simplify]: Simplify (- 0) into 0 2.085 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 2.085 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.085 * [backup-simplify]: Simplify lambda1 into lambda1 2.085 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.085 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.085 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.085 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 2.085 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.085 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 2.086 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 2.086 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 2.086 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.086 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 2.086 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.086 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 2.087 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 2.087 * [backup-simplify]: Simplify (* 2 0) into 0 2.087 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 2.087 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 2.088 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 2.088 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 2.088 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.088 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.088 * [backup-simplify]: Simplify (+ 0) into 0 2.089 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.089 * [backup-simplify]: Simplify (+ 0 0) into 0 2.089 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.090 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.090 * [backup-simplify]: Simplify (- 0) into 0 2.091 * [backup-simplify]: Simplify (+ 0 0) into 0 2.091 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.091 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 2.091 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.091 * [backup-simplify]: Simplify (+ 0 0) into 0 2.092 * [backup-simplify]: Simplify (+ 0 0) into 0 2.092 * [backup-simplify]: Simplify (+ 0 0) into 0 2.092 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.092 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 2.092 * [backup-simplify]: Simplify (+ 0) into 0 2.093 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 2.093 * [backup-simplify]: Simplify (+ 0 0) into 0 2.093 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 2.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.094 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 2.095 * [backup-simplify]: Simplify (- 0) into 0 2.095 * [backup-simplify]: Simplify (+ 0 0) into 0 2.095 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 2.095 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 2.096 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 2.096 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 2.096 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 2.096 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.097 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.097 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2.098 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 2.098 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 2.098 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 2.098 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.098 * [taylor]: Taking taylor expansion of phi1 in phi2 2.098 * [backup-simplify]: Simplify phi1 into phi1 2.098 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 2.098 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 2.098 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.098 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.098 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.098 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.098 * [backup-simplify]: Simplify 0.5 into 0.5 2.098 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.098 * [taylor]: Taking taylor expansion of phi2 in phi2 2.098 * [backup-simplify]: Simplify 0 into 0 2.098 * [backup-simplify]: Simplify 1 into 1 2.098 * [taylor]: Taking taylor expansion of phi1 in phi2 2.098 * [backup-simplify]: Simplify phi1 into phi1 2.098 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.098 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.098 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.098 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.098 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.098 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.098 * [backup-simplify]: Simplify (- 0) into 0 2.098 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.099 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.099 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.099 * [backup-simplify]: Simplify lambda1 into lambda1 2.099 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.099 * [taylor]: Taking taylor expansion of phi2 in phi2 2.099 * [backup-simplify]: Simplify 0 into 0 2.099 * [backup-simplify]: Simplify 1 into 1 2.099 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 2.099 * [taylor]: Taking taylor expansion of 2 in phi2 2.099 * [backup-simplify]: Simplify 2 into 2 2.099 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.099 * [taylor]: Taking taylor expansion of phi2 in phi2 2.099 * [backup-simplify]: Simplify 0 into 0 2.099 * [backup-simplify]: Simplify 1 into 1 2.099 * [taylor]: Taking taylor expansion of phi1 in phi2 2.099 * [backup-simplify]: Simplify phi1 into phi1 2.099 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.099 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.099 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.099 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.099 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.100 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.100 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.100 * [backup-simplify]: Simplify (* 2 0) into 0 2.100 * [backup-simplify]: Simplify (- 0) into 0 2.100 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.101 * [backup-simplify]: Simplify (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.101 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.101 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.101 * [backup-simplify]: Simplify (+ 0) into 0 2.101 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.102 * [backup-simplify]: Simplify (+ 1 0) into 1 2.102 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.104 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.104 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.104 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.104 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.104 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.105 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.105 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.105 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.105 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 2.106 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 2.106 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) 2.106 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) 2.106 * [taylor]: Taking taylor expansion of (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.107 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.107 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.107 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.107 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.107 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.107 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.107 * [backup-simplify]: Simplify 0.5 into 0.5 2.107 * [taylor]: Taking taylor expansion of phi1 in phi1 2.107 * [backup-simplify]: Simplify 0 into 0 2.107 * [backup-simplify]: Simplify 1 into 1 2.110 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.112 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.112 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.112 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.112 * [backup-simplify]: Simplify lambda1 into lambda1 2.112 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.112 * [taylor]: Taking taylor expansion of phi1 in phi1 2.112 * [backup-simplify]: Simplify 0 into 0 2.112 * [backup-simplify]: Simplify 1 into 1 2.112 * [backup-simplify]: Simplify (* 1 1) into 1 2.112 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.112 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.112 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.112 * [backup-simplify]: Simplify (sqrt (pow lambda1 2)) into lambda1 2.112 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.113 * [backup-simplify]: Simplify (+ 0) into 0 2.113 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.113 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.114 * [backup-simplify]: Simplify (+ 0 0) into 0 2.114 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (pow lambda1 2)))) into 0 2.114 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.114 * [backup-simplify]: Simplify 0 into 0 2.114 * [backup-simplify]: Simplify 1 into 1 2.114 * [backup-simplify]: Simplify 0 into 0 2.114 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 2.114 * [taylor]: Taking taylor expansion of -1 in phi2 2.114 * [backup-simplify]: Simplify -1 into -1 2.114 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 2.114 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2 2.114 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 2.114 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 2.114 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 2.114 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.114 * [taylor]: Taking taylor expansion of phi1 in phi2 2.114 * [backup-simplify]: Simplify phi1 into phi1 2.114 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 2.114 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 2.114 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.114 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.114 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.114 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.114 * [backup-simplify]: Simplify 0.5 into 0.5 2.114 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.114 * [taylor]: Taking taylor expansion of phi2 in phi2 2.114 * [backup-simplify]: Simplify 0 into 0 2.114 * [backup-simplify]: Simplify 1 into 1 2.114 * [taylor]: Taking taylor expansion of phi1 in phi2 2.114 * [backup-simplify]: Simplify phi1 into phi1 2.115 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.115 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.115 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.115 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.115 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.115 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.115 * [backup-simplify]: Simplify (- 0) into 0 2.115 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.115 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.115 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.115 * [backup-simplify]: Simplify lambda1 into lambda1 2.115 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.115 * [taylor]: Taking taylor expansion of phi2 in phi2 2.115 * [backup-simplify]: Simplify 0 into 0 2.115 * [backup-simplify]: Simplify 1 into 1 2.115 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 2.115 * [taylor]: Taking taylor expansion of 2 in phi2 2.115 * [backup-simplify]: Simplify 2 into 2 2.115 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.115 * [taylor]: Taking taylor expansion of phi2 in phi2 2.115 * [backup-simplify]: Simplify 0 into 0 2.115 * [backup-simplify]: Simplify 1 into 1 2.115 * [taylor]: Taking taylor expansion of phi1 in phi2 2.115 * [backup-simplify]: Simplify phi1 into phi1 2.115 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.115 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.116 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.116 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.116 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.116 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.116 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.116 * [backup-simplify]: Simplify (* 2 0) into 0 2.117 * [backup-simplify]: Simplify (- 0) into 0 2.117 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.117 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.118 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 2.118 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.118 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.118 * [backup-simplify]: Simplify (+ 0) into 0 2.118 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.119 * [backup-simplify]: Simplify (+ 1 0) into 1 2.119 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.121 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.121 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.121 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.121 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.121 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.122 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.122 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.122 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.122 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 2.122 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 2.123 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) 2.124 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) 2.125 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 2.125 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 2.125 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.125 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.125 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.125 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.125 * [backup-simplify]: Simplify 0.5 into 0.5 2.125 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.125 * [taylor]: Taking taylor expansion of phi2 in phi2 2.125 * [backup-simplify]: Simplify 0 into 0 2.125 * [backup-simplify]: Simplify 1 into 1 2.125 * [taylor]: Taking taylor expansion of phi1 in phi2 2.125 * [backup-simplify]: Simplify phi1 into phi1 2.125 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.125 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.125 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.126 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.126 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.126 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.126 * [backup-simplify]: Simplify (- 0) into 0 2.126 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.126 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.126 * [backup-simplify]: Simplify lambda1 into lambda1 2.126 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.126 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 2.127 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 2.127 * [backup-simplify]: Simplify (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) 2.127 * [taylor]: Taking taylor expansion of (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 2.127 * [taylor]: Taking taylor expansion of -1 in phi1 2.127 * [backup-simplify]: Simplify -1 into -1 2.127 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 2.127 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1 2.127 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.127 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.127 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.127 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.127 * [backup-simplify]: Simplify 0.5 into 0.5 2.127 * [taylor]: Taking taylor expansion of phi1 in phi1 2.127 * [backup-simplify]: Simplify 0 into 0 2.127 * [backup-simplify]: Simplify 1 into 1 2.128 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.128 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.128 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.129 * [backup-simplify]: Simplify lambda1 into lambda1 2.129 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.129 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.129 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.129 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.129 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.129 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.129 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.129 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.129 * [backup-simplify]: Simplify 0.5 into 0.5 2.129 * [taylor]: Taking taylor expansion of phi1 in phi1 2.129 * [backup-simplify]: Simplify 0 into 0 2.129 * [backup-simplify]: Simplify 1 into 1 2.129 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.130 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.130 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.130 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.130 * [backup-simplify]: Simplify lambda1 into lambda1 2.130 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.130 * [taylor]: Taking taylor expansion of phi1 in phi1 2.130 * [backup-simplify]: Simplify 0 into 0 2.130 * [backup-simplify]: Simplify 1 into 1 2.130 * [backup-simplify]: Simplify (* 1 1) into 1 2.130 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.130 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.131 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.131 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 2.131 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 2.131 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.131 * [backup-simplify]: Simplify (+ 0) into 0 2.132 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.132 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.132 * [backup-simplify]: Simplify (+ 0 0) into 0 2.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 2.133 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 2.133 * [backup-simplify]: Simplify (* 1 1) into 1 2.133 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1 2.133 * [backup-simplify]: Simplify (* lambda1 (/ 1 lambda1)) into 1 2.133 * [backup-simplify]: Simplify (* -1 1) into -1 2.133 * [taylor]: Taking taylor expansion of -1 in lambda1 2.133 * [backup-simplify]: Simplify -1 into -1 2.133 * [backup-simplify]: Simplify -1 into -1 2.133 * [taylor]: Taking taylor expansion of (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) in phi1 2.133 * [taylor]: Taking taylor expansion of -1/2 in phi1 2.133 * [backup-simplify]: Simplify -1/2 into -1/2 2.133 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) in phi1 2.133 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.133 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.133 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.133 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.134 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.134 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.134 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.134 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.134 * [backup-simplify]: Simplify 0.5 into 0.5 2.134 * [taylor]: Taking taylor expansion of phi1 in phi1 2.134 * [backup-simplify]: Simplify 0 into 0 2.134 * [backup-simplify]: Simplify 1 into 1 2.134 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.135 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.135 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.135 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.135 * [backup-simplify]: Simplify lambda1 into lambda1 2.135 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.135 * [taylor]: Taking taylor expansion of phi1 in phi1 2.135 * [backup-simplify]: Simplify 0 into 0 2.135 * [backup-simplify]: Simplify 1 into 1 2.135 * [backup-simplify]: Simplify (* 1 1) into 1 2.135 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.135 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.135 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.135 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 2.136 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 2.136 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.136 * [backup-simplify]: Simplify (+ 0) into 0 2.136 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.137 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.137 * [backup-simplify]: Simplify (+ 0 0) into 0 2.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 2.137 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 2.137 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) in phi1 2.137 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 2.137 * [taylor]: Taking taylor expansion of 1.0 in phi1 2.137 * [backup-simplify]: Simplify 1.0 into 1.0 2.137 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 2.137 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.137 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.137 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.137 * [backup-simplify]: Simplify 0.5 into 0.5 2.137 * [taylor]: Taking taylor expansion of phi1 in phi1 2.137 * [backup-simplify]: Simplify 0 into 0 2.137 * [backup-simplify]: Simplify 1 into 1 2.138 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.138 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.139 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 2.139 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.139 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.139 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.139 * [backup-simplify]: Simplify 0.5 into 0.5 2.139 * [taylor]: Taking taylor expansion of phi1 in phi1 2.139 * [backup-simplify]: Simplify 0 into 0 2.139 * [backup-simplify]: Simplify 1 into 1 2.139 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.140 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.140 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.140 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.140 * [backup-simplify]: Simplify lambda1 into lambda1 2.140 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1 2.140 * [taylor]: Taking taylor expansion of 2 in phi1 2.140 * [backup-simplify]: Simplify 2 into 2 2.140 * [taylor]: Taking taylor expansion of phi1 in phi1 2.140 * [backup-simplify]: Simplify 0 into 0 2.140 * [backup-simplify]: Simplify 1 into 1 2.140 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.140 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 2.140 * [backup-simplify]: Simplify (* 1 0) into 0 2.141 * [backup-simplify]: Simplify (* 1.0 0) into 0 2.141 * [backup-simplify]: Simplify (* 2 0) into 0 2.141 * [backup-simplify]: Simplify (+ 0 0) into 0 2.141 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0 2.141 * [backup-simplify]: Simplify (* -1/2 0) into 0 2.141 * [taylor]: Taking taylor expansion of 0 in lambda1 2.141 * [backup-simplify]: Simplify 0 into 0 2.141 * [backup-simplify]: Simplify 0 into 0 2.141 * [taylor]: Taking taylor expansion of 0 in lambda1 2.142 * [backup-simplify]: Simplify 0 into 0 2.142 * [backup-simplify]: Simplify 0 into 0 2.142 * [backup-simplify]: Simplify 1 into 1 2.142 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 2.142 * [backup-simplify]: Simplify (* 1 1) into 1 2.142 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.142 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.143 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 2.143 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.144 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 2.144 * [backup-simplify]: Simplify (+ 0 0) into 0 2.145 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 2.145 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.146 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 2.146 * [backup-simplify]: Simplify (- 0) into 0 2.146 * [backup-simplify]: Simplify (+ 0 0) into 0 2.147 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 2.147 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 2.147 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 2.148 * [backup-simplify]: Simplify (+ 0 0) into 0 2.148 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.148 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.148 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 2.149 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 2.149 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.150 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 2.150 * [backup-simplify]: Simplify (+ 0 0) into 0 2.151 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 2.151 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.151 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 2.152 * [backup-simplify]: Simplify (- 0) into 0 2.152 * [backup-simplify]: Simplify (+ 0 0) into 0 2.152 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 2.153 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0 2.153 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0 2.154 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0 2.154 * [backup-simplify]: Simplify (+ 0 0) into 0 2.154 * [backup-simplify]: Simplify (- 0) into 0 2.155 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 2.156 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))))) 2.156 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))))) in phi2 2.157 * [taylor]: Taking taylor expansion of 1/2 in phi2 2.157 * [backup-simplify]: Simplify 1/2 into 1/2 2.157 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) in phi2 2.157 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2 2.157 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 2.157 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 2.157 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 2.157 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.157 * [taylor]: Taking taylor expansion of phi1 in phi2 2.157 * [backup-simplify]: Simplify phi1 into phi1 2.157 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 2.157 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 2.157 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.157 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.157 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.157 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.157 * [backup-simplify]: Simplify 0.5 into 0.5 2.157 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.157 * [taylor]: Taking taylor expansion of phi2 in phi2 2.157 * [backup-simplify]: Simplify 0 into 0 2.157 * [backup-simplify]: Simplify 1 into 1 2.157 * [taylor]: Taking taylor expansion of phi1 in phi2 2.157 * [backup-simplify]: Simplify phi1 into phi1 2.157 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.157 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.157 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.157 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.157 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.157 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.157 * [backup-simplify]: Simplify (- 0) into 0 2.158 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.158 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.158 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.158 * [backup-simplify]: Simplify lambda1 into lambda1 2.158 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.158 * [taylor]: Taking taylor expansion of phi2 in phi2 2.158 * [backup-simplify]: Simplify 0 into 0 2.158 * [backup-simplify]: Simplify 1 into 1 2.158 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 2.158 * [taylor]: Taking taylor expansion of 2 in phi2 2.158 * [backup-simplify]: Simplify 2 into 2 2.158 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.158 * [taylor]: Taking taylor expansion of phi2 in phi2 2.158 * [backup-simplify]: Simplify 0 into 0 2.158 * [backup-simplify]: Simplify 1 into 1 2.158 * [taylor]: Taking taylor expansion of phi1 in phi2 2.158 * [backup-simplify]: Simplify phi1 into phi1 2.158 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.158 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.158 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.158 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.158 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.159 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.159 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.159 * [backup-simplify]: Simplify (* 2 0) into 0 2.159 * [backup-simplify]: Simplify (- 0) into 0 2.159 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.160 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.160 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 2.160 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.160 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.160 * [backup-simplify]: Simplify (+ 0) into 0 2.161 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.161 * [backup-simplify]: Simplify (+ 1 0) into 1 2.161 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.163 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.163 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.163 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.163 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.164 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.164 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.164 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 2.165 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.165 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 2.165 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 2.165 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) 2.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) 2.168 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 2.168 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2 2.168 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.168 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.168 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.168 * [backup-simplify]: Simplify 0.5 into 0.5 2.168 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.168 * [taylor]: Taking taylor expansion of phi2 in phi2 2.168 * [backup-simplify]: Simplify 0 into 0 2.168 * [backup-simplify]: Simplify 1 into 1 2.168 * [taylor]: Taking taylor expansion of phi1 in phi2 2.168 * [backup-simplify]: Simplify phi1 into phi1 2.168 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.168 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.168 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.168 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.168 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.168 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.168 * [backup-simplify]: Simplify (- 0) into 0 2.168 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.168 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 2.168 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) in phi2 2.168 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in phi2 2.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.168 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.168 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.169 * [backup-simplify]: Simplify 0.5 into 0.5 2.169 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.169 * [taylor]: Taking taylor expansion of phi2 in phi2 2.169 * [backup-simplify]: Simplify 0 into 0 2.169 * [backup-simplify]: Simplify 1 into 1 2.169 * [taylor]: Taking taylor expansion of phi1 in phi2 2.169 * [backup-simplify]: Simplify phi1 into phi1 2.169 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.169 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.169 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.169 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.169 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.169 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.169 * [backup-simplify]: Simplify (- 0) into 0 2.169 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.169 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.169 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.169 * [backup-simplify]: Simplify lambda1 into lambda1 2.169 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 2.169 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 2.169 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.169 * [taylor]: Taking taylor expansion of phi1 in phi2 2.169 * [backup-simplify]: Simplify phi1 into phi1 2.169 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 2.169 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 2.169 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 2.169 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.169 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.169 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.169 * [backup-simplify]: Simplify 0.5 into 0.5 2.169 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.170 * [taylor]: Taking taylor expansion of phi2 in phi2 2.170 * [backup-simplify]: Simplify 0 into 0 2.170 * [backup-simplify]: Simplify 1 into 1 2.170 * [taylor]: Taking taylor expansion of phi1 in phi2 2.170 * [backup-simplify]: Simplify phi1 into phi1 2.170 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.170 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.170 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.170 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.170 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.170 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.170 * [backup-simplify]: Simplify (- 0) into 0 2.170 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.170 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.170 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.170 * [backup-simplify]: Simplify lambda1 into lambda1 2.170 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.170 * [taylor]: Taking taylor expansion of phi2 in phi2 2.170 * [backup-simplify]: Simplify 0 into 0 2.170 * [backup-simplify]: Simplify 1 into 1 2.170 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 2.170 * [taylor]: Taking taylor expansion of 2 in phi2 2.170 * [backup-simplify]: Simplify 2 into 2 2.170 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.170 * [taylor]: Taking taylor expansion of phi2 in phi2 2.170 * [backup-simplify]: Simplify 0 into 0 2.170 * [backup-simplify]: Simplify 1 into 1 2.170 * [taylor]: Taking taylor expansion of phi1 in phi2 2.170 * [backup-simplify]: Simplify phi1 into phi1 2.170 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.171 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 4) 2.171 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.171 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) 2.171 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.171 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.171 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.171 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.171 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 2.172 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.172 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.172 * [backup-simplify]: Simplify (* 2 0) into 0 2.172 * [backup-simplify]: Simplify (- 0) into 0 2.173 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2.173 * [backup-simplify]: Simplify (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 2.173 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 2.174 * [backup-simplify]: Simplify (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 2.174 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 2.175 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 2.176 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) 2.176 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 2.176 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.176 * [backup-simplify]: Simplify 1/2 into 1/2 2.176 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 2.176 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.176 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.176 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.176 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.176 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.176 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.176 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.176 * [backup-simplify]: Simplify 0.5 into 0.5 2.176 * [taylor]: Taking taylor expansion of phi1 in phi1 2.176 * [backup-simplify]: Simplify 0 into 0 2.176 * [backup-simplify]: Simplify 1 into 1 2.176 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.177 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.177 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.177 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.177 * [backup-simplify]: Simplify lambda1 into lambda1 2.177 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.177 * [taylor]: Taking taylor expansion of phi1 in phi1 2.177 * [backup-simplify]: Simplify 0 into 0 2.177 * [backup-simplify]: Simplify 1 into 1 2.178 * [backup-simplify]: Simplify (* 1 1) into 1 2.178 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.178 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.178 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.178 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 2.178 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 2.178 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.178 * [backup-simplify]: Simplify (+ 0) into 0 2.179 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.179 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.179 * [backup-simplify]: Simplify (+ 0 0) into 0 2.180 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 2.180 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 2.180 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.180 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.180 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.180 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.180 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.180 * [backup-simplify]: Simplify 0.5 into 0.5 2.180 * [taylor]: Taking taylor expansion of phi1 in phi1 2.180 * [backup-simplify]: Simplify 0 into 0 2.180 * [backup-simplify]: Simplify 1 into 1 2.180 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.181 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.181 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.181 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) in phi1 2.181 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 4) in phi1 2.181 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.181 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.181 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.181 * [backup-simplify]: Simplify 0.5 into 0.5 2.181 * [taylor]: Taking taylor expansion of phi1 in phi1 2.181 * [backup-simplify]: Simplify 0 into 0 2.181 * [backup-simplify]: Simplify 1 into 1 2.182 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.183 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.183 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.183 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.183 * [backup-simplify]: Simplify lambda1 into lambda1 2.183 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.183 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.183 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.183 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.183 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.183 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.183 * [backup-simplify]: Simplify 0.5 into 0.5 2.183 * [taylor]: Taking taylor expansion of phi1 in phi1 2.183 * [backup-simplify]: Simplify 0 into 0 2.183 * [backup-simplify]: Simplify 1 into 1 2.183 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.184 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.184 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.184 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.184 * [backup-simplify]: Simplify lambda1 into lambda1 2.184 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.184 * [taylor]: Taking taylor expansion of phi1 in phi1 2.184 * [backup-simplify]: Simplify 0 into 0 2.184 * [backup-simplify]: Simplify 1 into 1 2.184 * [backup-simplify]: Simplify (* 1 1) into 1 2.184 * [backup-simplify]: Simplify (* 1 1) into 1 2.185 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.185 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.185 * [backup-simplify]: Simplify (* 1 1) into 1 2.185 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.185 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.185 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.185 * [backup-simplify]: Simplify (/ (pow lambda1 2) (pow lambda1 2)) into 1 2.186 * [backup-simplify]: Simplify (* 1 1) into 1 2.186 * [backup-simplify]: Simplify (- 1) into -1 2.186 * [backup-simplify]: Simplify (+ 1 -1) into 0 2.186 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0 2.187 * [backup-simplify]: Simplify (* 1/2 0) into 0 2.187 * [taylor]: Taking taylor expansion of 0 in lambda1 2.187 * [backup-simplify]: Simplify 0 into 0 2.187 * [backup-simplify]: Simplify 0 into 0 2.187 * [backup-simplify]: Simplify (+ 0) into 0 2.187 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.187 * [backup-simplify]: Simplify (+ 1 0) into 1 2.188 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.189 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.190 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.190 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.190 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 2.190 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 2.192 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) 2.195 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (* 0 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) into (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))))) 2.195 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))))) in phi1 2.195 * [taylor]: Taking taylor expansion of (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 2.195 * [taylor]: Taking taylor expansion of 1.0 in phi1 2.195 * [backup-simplify]: Simplify 1.0 into 1.0 2.195 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 2.195 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1 2.195 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.195 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.195 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.195 * [backup-simplify]: Simplify 0.5 into 0.5 2.195 * [taylor]: Taking taylor expansion of phi1 in phi1 2.195 * [backup-simplify]: Simplify 0 into 0 2.195 * [backup-simplify]: Simplify 1 into 1 2.196 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.197 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.197 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1 2.197 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.197 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.197 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.197 * [backup-simplify]: Simplify 0.5 into 0.5 2.197 * [taylor]: Taking taylor expansion of phi1 in phi1 2.197 * [backup-simplify]: Simplify 0 into 0 2.197 * [backup-simplify]: Simplify 1 into 1 2.197 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.198 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.198 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.198 * [backup-simplify]: Simplify lambda1 into lambda1 2.198 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.198 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.198 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.198 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.198 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.198 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.198 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.198 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.198 * [backup-simplify]: Simplify 0.5 into 0.5 2.198 * [taylor]: Taking taylor expansion of phi1 in phi1 2.198 * [backup-simplify]: Simplify 0 into 0 2.198 * [backup-simplify]: Simplify 1 into 1 2.199 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.199 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.199 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.199 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.200 * [backup-simplify]: Simplify lambda1 into lambda1 2.200 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.200 * [taylor]: Taking taylor expansion of phi1 in phi1 2.200 * [backup-simplify]: Simplify 0 into 0 2.200 * [backup-simplify]: Simplify 1 into 1 2.200 * [backup-simplify]: Simplify (* 1 1) into 1 2.200 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.200 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.200 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.200 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 2.200 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 2.200 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.201 * [backup-simplify]: Simplify (+ 0) into 0 2.201 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.201 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.202 * [backup-simplify]: Simplify (+ 0 0) into 0 2.202 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 2.202 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 2.202 * [taylor]: Taking taylor expansion of (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) in phi1 2.202 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1 2.202 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) in phi1 2.202 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.202 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.202 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.202 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.202 * [backup-simplify]: Simplify 0.5 into 0.5 2.202 * [taylor]: Taking taylor expansion of phi1 in phi1 2.202 * [backup-simplify]: Simplify 0 into 0 2.202 * [backup-simplify]: Simplify 1 into 1 2.202 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.203 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.203 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 2.203 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.203 * [backup-simplify]: Simplify lambda1 into lambda1 2.203 * [taylor]: Taking taylor expansion of phi1 in phi1 2.203 * [backup-simplify]: Simplify 0 into 0 2.203 * [backup-simplify]: Simplify 1 into 1 2.203 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1 2.203 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1 2.203 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1 2.203 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.203 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.203 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.204 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.204 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.204 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.204 * [backup-simplify]: Simplify 0.5 into 0.5 2.204 * [taylor]: Taking taylor expansion of phi1 in phi1 2.204 * [backup-simplify]: Simplify 0 into 0 2.204 * [backup-simplify]: Simplify 1 into 1 2.204 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.205 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.205 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.205 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.205 * [backup-simplify]: Simplify lambda1 into lambda1 2.205 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.205 * [taylor]: Taking taylor expansion of phi1 in phi1 2.205 * [backup-simplify]: Simplify 0 into 0 2.205 * [backup-simplify]: Simplify 1 into 1 2.205 * [backup-simplify]: Simplify (* 1 1) into 1 2.205 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.205 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.205 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.205 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 2.206 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6) 2.206 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6)) 2.206 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3)) 2.206 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.211 * [backup-simplify]: Simplify (+ 0) into 0 2.212 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.212 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.212 * [backup-simplify]: Simplify (+ 0 0) into 0 2.213 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0 2.213 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0 2.213 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0 2.213 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0 2.213 * [taylor]: Taking taylor expansion of (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))) in phi1 2.213 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.213 * [backup-simplify]: Simplify 0.5 into 0.5 2.213 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1 2.213 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) in phi1 2.213 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 3) in phi1 2.213 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.213 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.213 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.213 * [backup-simplify]: Simplify 0.5 into 0.5 2.213 * [taylor]: Taking taylor expansion of phi1 in phi1 2.213 * [backup-simplify]: Simplify 0 into 0 2.213 * [backup-simplify]: Simplify 1 into 1 2.214 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.214 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.215 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 3)) in phi1 2.215 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.215 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.215 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.215 * [backup-simplify]: Simplify 0.5 into 0.5 2.215 * [taylor]: Taking taylor expansion of phi1 in phi1 2.215 * [backup-simplify]: Simplify 0 into 0 2.215 * [backup-simplify]: Simplify 1 into 1 2.215 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.216 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.216 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1 2.216 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.216 * [backup-simplify]: Simplify lambda1 into lambda1 2.216 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1 2.216 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1 2.216 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1 2.216 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.216 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.216 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.216 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.216 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.216 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.216 * [backup-simplify]: Simplify 0.5 into 0.5 2.216 * [taylor]: Taking taylor expansion of phi1 in phi1 2.216 * [backup-simplify]: Simplify 0 into 0 2.216 * [backup-simplify]: Simplify 1 into 1 2.216 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.217 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.217 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.217 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.217 * [backup-simplify]: Simplify lambda1 into lambda1 2.217 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.217 * [taylor]: Taking taylor expansion of phi1 in phi1 2.217 * [backup-simplify]: Simplify 0 into 0 2.217 * [backup-simplify]: Simplify 1 into 1 2.218 * [backup-simplify]: Simplify (* 1 1) into 1 2.218 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.218 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.218 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.218 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 2.218 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6) 2.218 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6)) 2.218 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3)) 2.218 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.219 * [backup-simplify]: Simplify (+ 0) into 0 2.219 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.219 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.220 * [backup-simplify]: Simplify (+ 0 0) into 0 2.220 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0 2.220 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0 2.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0 2.220 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0 2.220 * [backup-simplify]: Simplify (* 0 lambda1) into 0 2.221 * [backup-simplify]: Simplify (* 1 0) into 0 2.221 * [backup-simplify]: Simplify (* 0 (/ 1 lambda1)) into 0 2.221 * [backup-simplify]: Simplify (* 1.0 0) into 0 2.222 * [backup-simplify]: Simplify (* 1 1) into 1 2.222 * [backup-simplify]: Simplify (* lambda1 0) into 0 2.222 * [backup-simplify]: Simplify (* 1 0) into 0 2.222 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0 2.222 * [backup-simplify]: Simplify (* 1 1) into 1 2.222 * [backup-simplify]: Simplify (* 1 1) into 1 2.222 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.223 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 2.223 * [backup-simplify]: Simplify (* 0 (pow lambda1 3)) into 0 2.223 * [backup-simplify]: Simplify (* 1 0) into 0 2.223 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0 2.223 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.224 * [backup-simplify]: Simplify (+ 0 0) into 0 2.224 * [backup-simplify]: Simplify (- 0) into 0 2.224 * [backup-simplify]: Simplify (+ 0 0) into 0 2.224 * [taylor]: Taking taylor expansion of 0 in lambda1 2.224 * [backup-simplify]: Simplify 0 into 0 2.224 * [backup-simplify]: Simplify 0 into 0 2.224 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 2.225 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 2.226 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.227 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.227 * [backup-simplify]: Simplify (+ 0 0) into 0 2.228 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 2.228 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.229 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 2.229 * [backup-simplify]: Simplify (- 0) into 0 2.229 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.229 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 2.230 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 2.230 * [backup-simplify]: Simplify (* 1 1) into 1 2.231 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 1) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 2.232 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 2.232 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 2.233 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 2.233 * [backup-simplify]: Simplify (- 0) into 0 2.233 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 0) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 2.235 * [backup-simplify]: Simplify (/ (- (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (pow (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) 2) (+)) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) 2.235 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 2.236 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.236 * [backup-simplify]: Simplify 1/2 into 1/2 2.236 * [taylor]: Taking taylor expansion of (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 2.236 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) in phi1 2.236 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) in phi1 2.236 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 2.236 * [taylor]: Taking taylor expansion of 0.25 in phi1 2.236 * [backup-simplify]: Simplify 0.25 into 0.25 2.236 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.236 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 2.236 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.236 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.236 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.236 * [backup-simplify]: Simplify 0.5 into 0.5 2.236 * [taylor]: Taking taylor expansion of phi1 in phi1 2.236 * [backup-simplify]: Simplify 0 into 0 2.236 * [backup-simplify]: Simplify 1 into 1 2.236 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.237 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.239 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.239 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.239 * [backup-simplify]: Simplify lambda1 into lambda1 2.239 * [taylor]: Taking taylor expansion of 1 in phi1 2.239 * [backup-simplify]: Simplify 1 into 1 2.239 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) in phi1 2.239 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.239 * [taylor]: Taking taylor expansion of 1.0 in phi1 2.239 * [backup-simplify]: Simplify 1.0 into 1.0 2.239 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.239 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1 2.239 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.239 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.239 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.239 * [backup-simplify]: Simplify 0.5 into 0.5 2.239 * [taylor]: Taking taylor expansion of phi1 in phi1 2.239 * [backup-simplify]: Simplify 0 into 0 2.239 * [backup-simplify]: Simplify 1 into 1 2.239 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.240 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.240 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1 2.240 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.240 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.240 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.240 * [backup-simplify]: Simplify 0.5 into 0.5 2.240 * [taylor]: Taking taylor expansion of phi1 in phi1 2.240 * [backup-simplify]: Simplify 0 into 0 2.240 * [backup-simplify]: Simplify 1 into 1 2.240 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.241 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.241 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 2.241 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.241 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.241 * [backup-simplify]: Simplify lambda1 into lambda1 2.241 * [taylor]: Taking taylor expansion of phi1 in phi1 2.241 * [backup-simplify]: Simplify 0 into 0 2.241 * [backup-simplify]: Simplify 1 into 1 2.241 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.241 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.241 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.241 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.241 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.241 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.242 * [backup-simplify]: Simplify 0.5 into 0.5 2.242 * [taylor]: Taking taylor expansion of phi1 in phi1 2.242 * [backup-simplify]: Simplify 0 into 0 2.242 * [backup-simplify]: Simplify 1 into 1 2.242 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.243 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.243 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.243 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.243 * [backup-simplify]: Simplify lambda1 into lambda1 2.243 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.243 * [taylor]: Taking taylor expansion of phi1 in phi1 2.243 * [backup-simplify]: Simplify 0 into 0 2.243 * [backup-simplify]: Simplify 1 into 1 2.243 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.243 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 2.243 * [backup-simplify]: Simplify (* 0 0) into 0 2.243 * [backup-simplify]: Simplify (* 1 0) into 0 2.244 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.244 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 2.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.246 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0 2.246 * [backup-simplify]: Simplify (+ 0) into 0 2.247 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 2.247 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 2.247 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0 2.248 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 2.248 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.249 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2)) 2.251 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.251 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2)) 2.252 * [backup-simplify]: Simplify (* 1 1) into 1 2.252 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.252 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.252 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.252 * [backup-simplify]: Simplify (/ (* 0.5 (pow lambda1 2)) (pow lambda1 2)) into 0.5 2.252 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 2.252 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 2.252 * [taylor]: Taking taylor expansion of 0.25 in phi1 2.252 * [backup-simplify]: Simplify 0.25 into 0.25 2.252 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.252 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.252 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.252 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.252 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.252 * [backup-simplify]: Simplify 0.5 into 0.5 2.252 * [taylor]: Taking taylor expansion of phi1 in phi1 2.252 * [backup-simplify]: Simplify 0 into 0 2.252 * [backup-simplify]: Simplify 1 into 1 2.252 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.253 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.254 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.254 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.254 * [backup-simplify]: Simplify lambda1 into lambda1 2.254 * [taylor]: Taking taylor expansion of (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 2.254 * [taylor]: Taking taylor expansion of (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.254 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.254 * [taylor]: Taking taylor expansion of phi1 in phi1 2.254 * [backup-simplify]: Simplify 0 into 0 2.254 * [backup-simplify]: Simplify 1 into 1 2.254 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.254 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.254 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.254 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.254 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.254 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.254 * [backup-simplify]: Simplify 0.5 into 0.5 2.254 * [taylor]: Taking taylor expansion of phi1 in phi1 2.254 * [backup-simplify]: Simplify 0 into 0 2.254 * [backup-simplify]: Simplify 1 into 1 2.254 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.255 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.255 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.255 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.255 * [backup-simplify]: Simplify lambda1 into lambda1 2.255 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.255 * [taylor]: Taking taylor expansion of phi1 in phi1 2.255 * [backup-simplify]: Simplify 0 into 0 2.255 * [backup-simplify]: Simplify 1 into 1 2.255 * [backup-simplify]: Simplify (* 1 1) into 1 2.256 * [backup-simplify]: Simplify (* 1 1) into 1 2.256 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.256 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.256 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.256 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 2.256 * [taylor]: Taking taylor expansion of (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.256 * [taylor]: Taking taylor expansion of 0.25 in phi1 2.256 * [backup-simplify]: Simplify 0.25 into 0.25 2.256 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.256 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1 2.256 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.256 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.256 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.256 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.256 * [backup-simplify]: Simplify 0.5 into 0.5 2.256 * [taylor]: Taking taylor expansion of phi1 in phi1 2.256 * [backup-simplify]: Simplify 0 into 0 2.256 * [backup-simplify]: Simplify 1 into 1 2.256 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.257 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.257 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1 2.257 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 2.257 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.257 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.257 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.257 * [backup-simplify]: Simplify 0.5 into 0.5 2.258 * [taylor]: Taking taylor expansion of phi1 in phi1 2.258 * [backup-simplify]: Simplify 0 into 0 2.258 * [backup-simplify]: Simplify 1 into 1 2.258 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.259 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.260 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1 2.260 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.260 * [backup-simplify]: Simplify lambda1 into lambda1 2.260 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.260 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.260 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.260 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.260 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.260 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.260 * [backup-simplify]: Simplify 0.5 into 0.5 2.260 * [taylor]: Taking taylor expansion of phi1 in phi1 2.260 * [backup-simplify]: Simplify 0 into 0 2.260 * [backup-simplify]: Simplify 1 into 1 2.261 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.261 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.261 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.262 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.262 * [backup-simplify]: Simplify lambda1 into lambda1 2.262 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.262 * [taylor]: Taking taylor expansion of phi1 in phi1 2.262 * [backup-simplify]: Simplify 0 into 0 2.262 * [backup-simplify]: Simplify 1 into 1 2.262 * [backup-simplify]: Simplify (* 1 1) into 1 2.262 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 2.262 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.262 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 2.262 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4)) 2.262 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4)) 2.263 * [backup-simplify]: Simplify (* 1 1) into 1 2.263 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.263 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.263 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.263 * [backup-simplify]: Simplify (/ (* 0.25 (pow lambda1 4)) (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 2.263 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 2.263 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 2.263 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 2.263 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 2.263 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 2.263 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.263 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.263 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.263 * [backup-simplify]: Simplify 0.5 into 0.5 2.263 * [taylor]: Taking taylor expansion of phi1 in phi1 2.263 * [backup-simplify]: Simplify 0 into 0 2.263 * [backup-simplify]: Simplify 1 into 1 2.264 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.264 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.264 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.264 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.265 * [backup-simplify]: Simplify lambda1 into lambda1 2.265 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.265 * [taylor]: Taking taylor expansion of phi1 in phi1 2.265 * [backup-simplify]: Simplify 0 into 0 2.265 * [backup-simplify]: Simplify 1 into 1 2.265 * [backup-simplify]: Simplify (* 1 1) into 1 2.265 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.265 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.265 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 2.265 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 2.265 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 2.265 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.266 * [backup-simplify]: Simplify (+ 0) into 0 2.266 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.266 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 2.267 * [backup-simplify]: Simplify (+ 0 0) into 0 2.267 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 2.267 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 2.267 * [backup-simplify]: Simplify (+ 0 1) into 1 2.267 * [backup-simplify]: Simplify (* 1 1) into 1 2.267 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.267 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 2.268 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 2.268 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 2.268 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 2.268 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2))) 2.268 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda1 2)))) into (- 1 (* 0.25 (pow lambda1 2))) 2.268 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda1 2))) (/ 1 lambda1)) into (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) 2.268 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) 2.268 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1 2.268 * [taylor]: Taking taylor expansion of 1/2 in lambda1 2.268 * [backup-simplify]: Simplify 1/2 into 1/2 2.268 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1 2.268 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1 2.268 * [taylor]: Taking taylor expansion of 1 in lambda1 2.268 * [backup-simplify]: Simplify 1 into 1 2.268 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 2.269 * [taylor]: Taking taylor expansion of 0.25 in lambda1 2.269 * [backup-simplify]: Simplify 0.25 into 0.25 2.269 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.269 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.269 * [backup-simplify]: Simplify 0 into 0 2.269 * [backup-simplify]: Simplify 1 into 1 2.269 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.269 * [backup-simplify]: Simplify 0 into 0 2.269 * [backup-simplify]: Simplify 1 into 1 2.269 * [backup-simplify]: Simplify (+ 1 0) into 1 2.269 * [backup-simplify]: Simplify (/ 1 1) into 1 2.269 * [backup-simplify]: Simplify (+ 0 0) into 0 2.270 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 2.270 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 2.270 * [backup-simplify]: Simplify 0 into 0 2.271 * [backup-simplify]: Simplify (+ 0) into 0 2.271 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.271 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0 2.271 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (/ 1 lambda1))) into 0 2.272 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 1)) into 0 2.272 * [taylor]: Taking taylor expansion of 0 in lambda1 2.272 * [backup-simplify]: Simplify 0 into 0 2.272 * [backup-simplify]: Simplify 0 into 0 2.272 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.273 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.274 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 2.274 * [backup-simplify]: Simplify (+ 0) into 0 2.274 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 2.275 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 2.275 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 2.275 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) 2) into (+ (* 0.5 (pow lambda1 2)) 2) 2.276 * [backup-simplify]: Simplify (+ (* (/ 1 lambda1) (+ (* 0.5 (pow lambda1 2)) 2)) (* 0 0)) into (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1)) 2.276 * [backup-simplify]: Simplify (+ (* -1/2 (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))) (* 0 0)) into (- (+ (/ 1 lambda1) (* 0.25 lambda1))) 2.276 * [taylor]: Taking taylor expansion of (- (+ (/ 1 lambda1) (* 0.25 lambda1))) in lambda1 2.276 * [taylor]: Taking taylor expansion of (+ (/ 1 lambda1) (* 0.25 lambda1)) in lambda1 2.276 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 2.276 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.276 * [backup-simplify]: Simplify 0 into 0 2.276 * [backup-simplify]: Simplify 1 into 1 2.277 * [backup-simplify]: Simplify (/ 1 1) into 1 2.277 * [taylor]: Taking taylor expansion of (* 0.25 lambda1) in lambda1 2.277 * [taylor]: Taking taylor expansion of 0.25 in lambda1 2.277 * [backup-simplify]: Simplify 0.25 into 0.25 2.277 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.277 * [backup-simplify]: Simplify 0 into 0 2.277 * [backup-simplify]: Simplify 1 into 1 2.277 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.277 * [backup-simplify]: Simplify (* 0.25 0) into 0 2.278 * [backup-simplify]: Simplify (+ 0 0) into 0 2.278 * [backup-simplify]: Simplify (- 0) into 0 2.278 * [backup-simplify]: Simplify 0 into 0 2.278 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 2.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.282 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 2.283 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 2.283 * [backup-simplify]: Simplify (* 1 1) into 1 2.283 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2))) 2.284 * [backup-simplify]: Simplify (/ (- (- 1 (* 0.25 (pow lambda1 2))) (pow 0 2) (+)) (* 2 lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) 2.284 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1 2.284 * [taylor]: Taking taylor expansion of 1/2 in lambda1 2.284 * [backup-simplify]: Simplify 1/2 into 1/2 2.284 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1 2.284 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1 2.284 * [taylor]: Taking taylor expansion of 1 in lambda1 2.284 * [backup-simplify]: Simplify 1 into 1 2.284 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 2.284 * [taylor]: Taking taylor expansion of 0.25 in lambda1 2.284 * [backup-simplify]: Simplify 0.25 into 0.25 2.284 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.284 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.284 * [backup-simplify]: Simplify 0 into 0 2.284 * [backup-simplify]: Simplify 1 into 1 2.284 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.284 * [backup-simplify]: Simplify 0 into 0 2.284 * [backup-simplify]: Simplify 1 into 1 2.285 * [backup-simplify]: Simplify (+ 1 0) into 1 2.285 * [backup-simplify]: Simplify (/ 1 1) into 1 2.285 * [backup-simplify]: Simplify (+ 0 0) into 0 2.286 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 2.286 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 2.286 * [backup-simplify]: Simplify 0 into 0 2.286 * [backup-simplify]: Simplify (+ (* 1 (* lambda1 (* 1 (* 1 1)))) (* -1 (* 1 (* 1 (* 1 lambda2))))) into (- lambda1 lambda2) 2.288 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 lambda2) 2) (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 2.288 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda2 phi2 phi1 lambda1) around 0 2.288 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 2.288 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 2.288 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1 2.288 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 2.288 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.288 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.288 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.288 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.288 * [backup-simplify]: Simplify 0.5 into 0.5 2.288 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.288 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.288 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.288 * [backup-simplify]: Simplify phi1 into phi1 2.288 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.288 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.288 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.288 * [backup-simplify]: Simplify phi2 into phi2 2.288 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.288 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.288 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.289 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.289 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.289 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.289 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.289 * [backup-simplify]: Simplify (- 0) into 0 2.289 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.289 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.289 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.289 * [backup-simplify]: Simplify 0 into 0 2.289 * [backup-simplify]: Simplify 1 into 1 2.290 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.290 * [backup-simplify]: Simplify (* 1 1) into 1 2.290 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.290 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1 2.290 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 2.290 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.290 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.290 * [backup-simplify]: Simplify phi2 into phi2 2.290 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.290 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.290 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1 2.290 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 2.290 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.290 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.290 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.290 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.290 * [backup-simplify]: Simplify 0.5 into 0.5 2.290 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.290 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.290 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.290 * [backup-simplify]: Simplify phi1 into phi1 2.290 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.290 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.290 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.291 * [backup-simplify]: Simplify phi2 into phi2 2.291 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.291 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.291 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.291 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.291 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.291 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.291 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.291 * [backup-simplify]: Simplify (- 0) into 0 2.291 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.292 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.292 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.292 * [backup-simplify]: Simplify lambda2 into lambda2 2.292 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.292 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.292 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.292 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 2.292 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.292 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.292 * [backup-simplify]: Simplify phi1 into phi1 2.292 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.292 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.292 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 2.292 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 2.292 * [taylor]: Taking taylor expansion of 2 in lambda1 2.292 * [backup-simplify]: Simplify 2 into 2 2.292 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 2.292 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.292 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.292 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.292 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.292 * [backup-simplify]: Simplify 0.5 into 0.5 2.292 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.292 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.292 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.292 * [backup-simplify]: Simplify phi1 into phi1 2.292 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.292 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.293 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.293 * [backup-simplify]: Simplify phi2 into phi2 2.293 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.293 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.293 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.293 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.293 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.293 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.293 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.293 * [backup-simplify]: Simplify (- 0) into 0 2.293 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.294 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 2.294 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.294 * [backup-simplify]: Simplify lambda2 into lambda2 2.294 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.294 * [backup-simplify]: Simplify 0 into 0 2.294 * [backup-simplify]: Simplify 1 into 1 2.294 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.294 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.294 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 2.294 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 2.294 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 2.294 * [taylor]: Taking taylor expansion of 2 in lambda1 2.294 * [backup-simplify]: Simplify 2 into 2 2.294 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 2.294 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.294 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.294 * [backup-simplify]: Simplify phi2 into phi2 2.294 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.294 * [backup-simplify]: Simplify phi1 into phi1 2.295 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.295 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.295 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.295 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.295 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.296 * [backup-simplify]: Simplify (+ 0) into 0 2.296 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.296 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.296 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.296 * [backup-simplify]: Simplify (+ 0 0) into 0 2.297 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.298 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.298 * [backup-simplify]: Simplify (- 0) into 0 2.298 * [backup-simplify]: Simplify (+ 0 0) into 0 2.298 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.299 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.299 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.300 * [backup-simplify]: Simplify (+ 0 0) into 0 2.300 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.300 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.300 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.301 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.301 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2.301 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 2.301 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 2.301 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1 2.301 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 2.301 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.301 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.301 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.301 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.301 * [backup-simplify]: Simplify 0.5 into 0.5 2.301 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.301 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.301 * [taylor]: Taking taylor expansion of phi1 in phi1 2.301 * [backup-simplify]: Simplify 0 into 0 2.301 * [backup-simplify]: Simplify 1 into 1 2.302 * [backup-simplify]: Simplify (/ 1 1) into 1 2.302 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.302 * [taylor]: Taking taylor expansion of phi2 in phi1 2.302 * [backup-simplify]: Simplify phi2 into phi2 2.302 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.302 * [backup-simplify]: Simplify (+ 1 0) into 1 2.302 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.303 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.303 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.303 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.303 * [backup-simplify]: Simplify lambda1 into lambda1 2.303 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.303 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.303 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.303 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1 2.303 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.303 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.303 * [taylor]: Taking taylor expansion of phi2 in phi1 2.303 * [backup-simplify]: Simplify phi2 into phi2 2.303 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.303 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.303 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1 2.303 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 2.303 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.303 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.303 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.303 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.303 * [backup-simplify]: Simplify 0.5 into 0.5 2.303 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.303 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.303 * [taylor]: Taking taylor expansion of phi1 in phi1 2.303 * [backup-simplify]: Simplify 0 into 0 2.303 * [backup-simplify]: Simplify 1 into 1 2.304 * [backup-simplify]: Simplify (/ 1 1) into 1 2.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.304 * [taylor]: Taking taylor expansion of phi2 in phi1 2.304 * [backup-simplify]: Simplify phi2 into phi2 2.304 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.304 * [backup-simplify]: Simplify (+ 1 0) into 1 2.304 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.304 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.305 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 2.305 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.305 * [backup-simplify]: Simplify lambda2 into lambda2 2.305 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.305 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.305 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.305 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.305 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.305 * [taylor]: Taking taylor expansion of phi1 in phi1 2.305 * [backup-simplify]: Simplify 0 into 0 2.305 * [backup-simplify]: Simplify 1 into 1 2.310 * [backup-simplify]: Simplify (* 1 1) into 1 2.311 * [backup-simplify]: Simplify (/ 1 1) into 1 2.311 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.311 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 2.311 * [taylor]: Taking taylor expansion of 2 in phi1 2.311 * [backup-simplify]: Simplify 2 into 2 2.311 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 2.311 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.311 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.311 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.311 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.311 * [backup-simplify]: Simplify 0.5 into 0.5 2.311 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.311 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.311 * [taylor]: Taking taylor expansion of phi1 in phi1 2.311 * [backup-simplify]: Simplify 0 into 0 2.311 * [backup-simplify]: Simplify 1 into 1 2.312 * [backup-simplify]: Simplify (/ 1 1) into 1 2.312 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.312 * [taylor]: Taking taylor expansion of phi2 in phi1 2.312 * [backup-simplify]: Simplify phi2 into phi2 2.312 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.312 * [backup-simplify]: Simplify (+ 1 0) into 1 2.312 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.313 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.313 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 2.313 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.313 * [backup-simplify]: Simplify lambda2 into lambda2 2.313 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.313 * [backup-simplify]: Simplify lambda1 into lambda1 2.313 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.313 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.313 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.313 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.313 * [taylor]: Taking taylor expansion of 2 in phi1 2.313 * [backup-simplify]: Simplify 2 into 2 2.313 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.313 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.313 * [taylor]: Taking taylor expansion of phi2 in phi1 2.313 * [backup-simplify]: Simplify phi2 into phi2 2.313 * [taylor]: Taking taylor expansion of phi1 in phi1 2.313 * [backup-simplify]: Simplify 0 into 0 2.313 * [backup-simplify]: Simplify 1 into 1 2.313 * [backup-simplify]: Simplify (* phi2 0) into 0 2.314 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.314 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.314 * [backup-simplify]: Simplify (+ 0 1) into 1 2.314 * [backup-simplify]: Simplify (+ 0 1) into 1 2.314 * [backup-simplify]: Simplify (+ 0 1) into 1 2.315 * [backup-simplify]: Simplify (+ 1 0) into 1 2.315 * [backup-simplify]: Simplify (sqrt 1) into 1 2.315 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.316 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.316 * [backup-simplify]: Simplify (+ 0 0) into 0 2.316 * [backup-simplify]: Simplify (+ 0 0) into 0 2.317 * [backup-simplify]: Simplify (+ 0 0) into 0 2.317 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.317 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 2.317 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 2.317 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.317 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 2.317 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 2.317 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 2.317 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2 2.317 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 2.317 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.317 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.317 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.317 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.317 * [backup-simplify]: Simplify 0.5 into 0.5 2.317 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.317 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.317 * [taylor]: Taking taylor expansion of phi1 in phi2 2.318 * [backup-simplify]: Simplify phi1 into phi1 2.318 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.318 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.318 * [taylor]: Taking taylor expansion of phi2 in phi2 2.318 * [backup-simplify]: Simplify 0 into 0 2.318 * [backup-simplify]: Simplify 1 into 1 2.318 * [backup-simplify]: Simplify (/ 1 1) into 1 2.318 * [backup-simplify]: Simplify (+ 0 1) into 1 2.318 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.318 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.319 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.319 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.319 * [backup-simplify]: Simplify lambda1 into lambda1 2.319 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.319 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.319 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.319 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2 2.319 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 2.319 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.319 * [taylor]: Taking taylor expansion of phi2 in phi2 2.319 * [backup-simplify]: Simplify 0 into 0 2.319 * [backup-simplify]: Simplify 1 into 1 2.319 * [backup-simplify]: Simplify (* 1 1) into 1 2.320 * [backup-simplify]: Simplify (/ 1 1) into 1 2.320 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2 2.320 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 2.320 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.320 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.320 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.320 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.320 * [backup-simplify]: Simplify 0.5 into 0.5 2.320 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.320 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.320 * [taylor]: Taking taylor expansion of phi1 in phi2 2.320 * [backup-simplify]: Simplify phi1 into phi1 2.320 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.320 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.320 * [taylor]: Taking taylor expansion of phi2 in phi2 2.320 * [backup-simplify]: Simplify 0 into 0 2.320 * [backup-simplify]: Simplify 1 into 1 2.320 * [backup-simplify]: Simplify (/ 1 1) into 1 2.321 * [backup-simplify]: Simplify (+ 0 1) into 1 2.321 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.321 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.321 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 2.321 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.321 * [backup-simplify]: Simplify lambda2 into lambda2 2.321 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.321 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.321 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.322 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 2.322 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.322 * [taylor]: Taking taylor expansion of phi1 in phi2 2.322 * [backup-simplify]: Simplify phi1 into phi1 2.322 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.322 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.322 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 2.322 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 2.322 * [taylor]: Taking taylor expansion of 2 in phi2 2.322 * [backup-simplify]: Simplify 2 into 2 2.322 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 2.322 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.322 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.322 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.322 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.322 * [backup-simplify]: Simplify 0.5 into 0.5 2.322 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.322 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.322 * [taylor]: Taking taylor expansion of phi1 in phi2 2.322 * [backup-simplify]: Simplify phi1 into phi1 2.322 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.322 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.322 * [taylor]: Taking taylor expansion of phi2 in phi2 2.322 * [backup-simplify]: Simplify 0 into 0 2.322 * [backup-simplify]: Simplify 1 into 1 2.322 * [backup-simplify]: Simplify (/ 1 1) into 1 2.323 * [backup-simplify]: Simplify (+ 0 1) into 1 2.323 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.323 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.323 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 2.323 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.323 * [backup-simplify]: Simplify lambda2 into lambda2 2.323 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.323 * [backup-simplify]: Simplify lambda1 into lambda1 2.323 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.323 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.324 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.324 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 2.324 * [taylor]: Taking taylor expansion of 2 in phi2 2.324 * [backup-simplify]: Simplify 2 into 2 2.324 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 2.324 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.324 * [taylor]: Taking taylor expansion of phi2 in phi2 2.324 * [backup-simplify]: Simplify 0 into 0 2.324 * [backup-simplify]: Simplify 1 into 1 2.324 * [taylor]: Taking taylor expansion of phi1 in phi2 2.324 * [backup-simplify]: Simplify phi1 into phi1 2.324 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.324 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.324 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.324 * [backup-simplify]: Simplify (+ 1 0) into 1 2.325 * [backup-simplify]: Simplify (+ 0 1) into 1 2.325 * [backup-simplify]: Simplify (+ 1 0) into 1 2.325 * [backup-simplify]: Simplify (sqrt 1) into 1 2.326 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.326 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.326 * [backup-simplify]: Simplify (+ 0 0) into 0 2.326 * [backup-simplify]: Simplify (+ 0 0) into 0 2.327 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 2.327 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 2.327 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 2.327 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 2.327 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 2.327 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 2.327 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 2.327 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 2.327 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 2.327 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.327 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.327 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.327 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.327 * [backup-simplify]: Simplify 0.5 into 0.5 2.327 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.327 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.327 * [backup-simplify]: Simplify phi1 into phi1 2.327 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.327 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.327 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.328 * [backup-simplify]: Simplify phi2 into phi2 2.328 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.328 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.328 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.328 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.328 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.328 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.328 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.328 * [backup-simplify]: Simplify (- 0) into 0 2.328 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.329 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.329 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.329 * [backup-simplify]: Simplify lambda1 into lambda1 2.329 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.329 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.329 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.329 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 2.329 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.329 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.329 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.329 * [backup-simplify]: Simplify phi2 into phi2 2.329 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.329 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.329 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 2.329 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 2.329 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.329 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.329 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.329 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.329 * [backup-simplify]: Simplify 0.5 into 0.5 2.329 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.329 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.329 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.329 * [backup-simplify]: Simplify phi1 into phi1 2.330 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.330 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.330 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.330 * [backup-simplify]: Simplify phi2 into phi2 2.330 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.330 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.330 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.330 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.330 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.330 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.330 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.330 * [backup-simplify]: Simplify (- 0) into 0 2.331 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.331 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.331 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.331 * [backup-simplify]: Simplify 0 into 0 2.331 * [backup-simplify]: Simplify 1 into 1 2.331 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.331 * [backup-simplify]: Simplify (* 1 1) into 1 2.331 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.331 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.331 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.331 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.331 * [backup-simplify]: Simplify phi1 into phi1 2.331 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.331 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.332 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.332 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 2.332 * [taylor]: Taking taylor expansion of 2 in lambda2 2.332 * [backup-simplify]: Simplify 2 into 2 2.332 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 2.332 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.332 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.332 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.332 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.332 * [backup-simplify]: Simplify 0.5 into 0.5 2.332 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.332 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.332 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.332 * [backup-simplify]: Simplify phi1 into phi1 2.332 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.332 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.332 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.332 * [backup-simplify]: Simplify phi2 into phi2 2.332 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.332 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.332 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.332 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.332 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.332 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.332 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.333 * [backup-simplify]: Simplify (- 0) into 0 2.333 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.333 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 2.333 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.333 * [backup-simplify]: Simplify 0 into 0 2.333 * [backup-simplify]: Simplify 1 into 1 2.333 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.333 * [backup-simplify]: Simplify lambda1 into lambda1 2.333 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.333 * [backup-simplify]: Simplify (* 0 lambda1) into 0 2.333 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 2.334 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 2.334 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.334 * [taylor]: Taking taylor expansion of 2 in lambda2 2.334 * [backup-simplify]: Simplify 2 into 2 2.334 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.334 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.334 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.334 * [backup-simplify]: Simplify phi2 into phi2 2.334 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.334 * [backup-simplify]: Simplify phi1 into phi1 2.334 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.334 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.334 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.334 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.335 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.335 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.335 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.335 * [backup-simplify]: Simplify (+ 0) into 0 2.336 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.336 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.336 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.336 * [backup-simplify]: Simplify (+ 0 0) into 0 2.337 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.337 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.338 * [backup-simplify]: Simplify (- 0) into 0 2.338 * [backup-simplify]: Simplify (+ 0 0) into 0 2.338 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.339 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.339 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.340 * [backup-simplify]: Simplify (+ 0 0) into 0 2.340 * [backup-simplify]: Simplify (+ 0 0) into 0 2.340 * [backup-simplify]: Simplify (+ 0 0) into 0 2.340 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.341 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.341 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.341 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.342 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.342 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 2.342 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 2.342 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2 2.342 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 2.342 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.342 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.342 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.342 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.342 * [backup-simplify]: Simplify 0.5 into 0.5 2.342 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.342 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.342 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.342 * [backup-simplify]: Simplify phi1 into phi1 2.342 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.342 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.342 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.342 * [backup-simplify]: Simplify phi2 into phi2 2.342 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.342 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.342 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.342 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.342 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.342 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.343 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.343 * [backup-simplify]: Simplify (- 0) into 0 2.343 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.343 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.343 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.343 * [backup-simplify]: Simplify lambda1 into lambda1 2.343 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.343 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.343 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.343 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2 2.343 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.343 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.343 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.344 * [backup-simplify]: Simplify phi2 into phi2 2.344 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.344 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.344 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2 2.344 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 2.344 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.344 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.344 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.344 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.344 * [backup-simplify]: Simplify 0.5 into 0.5 2.344 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.344 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.344 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.344 * [backup-simplify]: Simplify phi1 into phi1 2.344 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.344 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.344 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.344 * [backup-simplify]: Simplify phi2 into phi2 2.344 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.344 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.344 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.344 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.344 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.344 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.345 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.345 * [backup-simplify]: Simplify (- 0) into 0 2.345 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.345 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.345 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.345 * [backup-simplify]: Simplify 0 into 0 2.345 * [backup-simplify]: Simplify 1 into 1 2.345 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.346 * [backup-simplify]: Simplify (* 1 1) into 1 2.346 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.346 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.346 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.346 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.346 * [backup-simplify]: Simplify phi1 into phi1 2.346 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.346 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.346 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.346 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 2.346 * [taylor]: Taking taylor expansion of 2 in lambda2 2.346 * [backup-simplify]: Simplify 2 into 2 2.346 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 2.346 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.346 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.346 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.346 * [taylor]: Taking taylor expansion of 0.5 in lambda2 2.346 * [backup-simplify]: Simplify 0.5 into 0.5 2.346 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.346 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.346 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.346 * [backup-simplify]: Simplify phi1 into phi1 2.346 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.346 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.346 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.346 * [backup-simplify]: Simplify phi2 into phi2 2.346 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.347 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.347 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.347 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.347 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.347 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.347 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.347 * [backup-simplify]: Simplify (- 0) into 0 2.347 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.347 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 2.347 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.347 * [backup-simplify]: Simplify 0 into 0 2.347 * [backup-simplify]: Simplify 1 into 1 2.347 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.348 * [backup-simplify]: Simplify lambda1 into lambda1 2.348 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.348 * [backup-simplify]: Simplify (* 0 lambda1) into 0 2.348 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 2.348 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 2.348 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.348 * [taylor]: Taking taylor expansion of 2 in lambda2 2.348 * [backup-simplify]: Simplify 2 into 2 2.348 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.348 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.348 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.348 * [backup-simplify]: Simplify phi2 into phi2 2.348 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.348 * [backup-simplify]: Simplify phi1 into phi1 2.348 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.348 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.349 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.349 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.349 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.349 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.349 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.350 * [backup-simplify]: Simplify (+ 0) into 0 2.350 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.350 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.350 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.350 * [backup-simplify]: Simplify (+ 0 0) into 0 2.351 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.352 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.352 * [backup-simplify]: Simplify (- 0) into 0 2.352 * [backup-simplify]: Simplify (+ 0 0) into 0 2.352 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.353 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.353 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.354 * [backup-simplify]: Simplify (+ 0 0) into 0 2.354 * [backup-simplify]: Simplify (+ 0 0) into 0 2.354 * [backup-simplify]: Simplify (+ 0 0) into 0 2.354 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.355 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.355 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.355 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.356 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.356 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.356 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.356 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.356 * [backup-simplify]: Simplify 0.5 into 0.5 2.356 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.356 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.356 * [taylor]: Taking taylor expansion of phi1 in phi2 2.356 * [backup-simplify]: Simplify phi1 into phi1 2.356 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.356 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.356 * [taylor]: Taking taylor expansion of phi2 in phi2 2.356 * [backup-simplify]: Simplify 0 into 0 2.356 * [backup-simplify]: Simplify 1 into 1 2.356 * [backup-simplify]: Simplify (/ 1 1) into 1 2.356 * [backup-simplify]: Simplify (+ 0 1) into 1 2.357 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.357 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.357 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi2 2.357 * [taylor]: Taking taylor expansion of -1 in phi2 2.357 * [backup-simplify]: Simplify -1 into -1 2.357 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi2 2.357 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.357 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.357 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.357 * [backup-simplify]: Simplify 0.5 into 0.5 2.357 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.357 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.357 * [taylor]: Taking taylor expansion of phi1 in phi2 2.357 * [backup-simplify]: Simplify phi1 into phi1 2.357 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.357 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.357 * [taylor]: Taking taylor expansion of phi2 in phi2 2.357 * [backup-simplify]: Simplify 0 into 0 2.357 * [backup-simplify]: Simplify 1 into 1 2.357 * [backup-simplify]: Simplify (/ 1 1) into 1 2.358 * [backup-simplify]: Simplify (+ 0 1) into 1 2.358 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.358 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.358 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.358 * [backup-simplify]: Simplify lambda1 into lambda1 2.358 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 2.358 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.358 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.358 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.358 * [backup-simplify]: Simplify 0.5 into 0.5 2.358 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.358 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.358 * [taylor]: Taking taylor expansion of phi1 in phi1 2.358 * [backup-simplify]: Simplify 0 into 0 2.358 * [backup-simplify]: Simplify 1 into 1 2.359 * [backup-simplify]: Simplify (/ 1 1) into 1 2.359 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.359 * [taylor]: Taking taylor expansion of phi2 in phi1 2.359 * [backup-simplify]: Simplify phi2 into phi2 2.359 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.359 * [backup-simplify]: Simplify (+ 1 0) into 1 2.359 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.359 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.360 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.360 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.361 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.361 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.361 * [backup-simplify]: Simplify (+ 0 0) into 0 2.362 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.362 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.362 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.363 * [backup-simplify]: Simplify (- 0) into 0 2.363 * [backup-simplify]: Simplify (+ 0 0) into 0 2.363 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.364 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 2.365 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.365 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 2.365 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 2.366 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) 2.366 * [backup-simplify]: Simplify (+ 0) into 0 2.366 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.366 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.367 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.367 * [backup-simplify]: Simplify (+ 0 0) into 0 2.367 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.368 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.368 * [backup-simplify]: Simplify (- 0) into 0 2.368 * [backup-simplify]: Simplify (+ 0 0) into 0 2.369 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.369 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 2.369 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 2.370 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 2.370 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.370 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 2.370 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.371 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 2.372 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.372 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.372 * [taylor]: Taking taylor expansion of 1/2 in phi2 2.372 * [backup-simplify]: Simplify 1/2 into 1/2 2.372 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.372 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 2.372 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2 2.372 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 2.372 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.372 * [taylor]: Taking taylor expansion of phi2 in phi2 2.372 * [backup-simplify]: Simplify 0 into 0 2.372 * [backup-simplify]: Simplify 1 into 1 2.373 * [backup-simplify]: Simplify (* 1 1) into 1 2.373 * [backup-simplify]: Simplify (/ 1 1) into 1 2.373 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 2.373 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.373 * [taylor]: Taking taylor expansion of phi1 in phi2 2.373 * [backup-simplify]: Simplify phi1 into phi1 2.373 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.373 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.373 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 2.373 * [taylor]: Taking taylor expansion of 2 in phi2 2.373 * [backup-simplify]: Simplify 2 into 2 2.373 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 2.373 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.373 * [taylor]: Taking taylor expansion of phi2 in phi2 2.373 * [backup-simplify]: Simplify 0 into 0 2.373 * [backup-simplify]: Simplify 1 into 1 2.373 * [taylor]: Taking taylor expansion of phi1 in phi2 2.373 * [backup-simplify]: Simplify phi1 into phi1 2.373 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.374 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.374 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.374 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.374 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.374 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.374 * [backup-simplify]: Simplify 0.5 into 0.5 2.374 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.374 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.374 * [taylor]: Taking taylor expansion of phi1 in phi2 2.374 * [backup-simplify]: Simplify phi1 into phi1 2.374 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.374 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.374 * [taylor]: Taking taylor expansion of phi2 in phi2 2.374 * [backup-simplify]: Simplify 0 into 0 2.374 * [backup-simplify]: Simplify 1 into 1 2.374 * [backup-simplify]: Simplify (/ 1 1) into 1 2.374 * [backup-simplify]: Simplify (+ 0 1) into 1 2.375 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.375 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.375 * [backup-simplify]: Simplify (+ 1 0) into 1 2.375 * [backup-simplify]: Simplify (+ 1 0) into 1 2.376 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.376 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.376 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.377 * [backup-simplify]: Simplify (+ 0 0) into 0 2.377 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 2.377 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1))) 2.377 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 2.377 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 2.378 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 2.378 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 2.378 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 2.378 * [taylor]: Taking taylor expansion of (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 2.378 * [taylor]: Taking taylor expansion of phi1 in phi1 2.378 * [backup-simplify]: Simplify 0 into 0 2.378 * [backup-simplify]: Simplify 1 into 1 2.378 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.378 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.378 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.378 * [backup-simplify]: Simplify 0.5 into 0.5 2.378 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.378 * [taylor]: Taking taylor expansion of phi1 in phi1 2.378 * [backup-simplify]: Simplify 0 into 0 2.378 * [backup-simplify]: Simplify 1 into 1 2.378 * [backup-simplify]: Simplify (/ 1 1) into 1 2.378 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.378 * [taylor]: Taking taylor expansion of phi2 in phi1 2.378 * [backup-simplify]: Simplify phi2 into phi2 2.378 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.379 * [backup-simplify]: Simplify (+ 1 0) into 1 2.379 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.379 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.379 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.379 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.380 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.380 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.380 * [taylor]: Taking taylor expansion of (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 2.380 * [taylor]: Taking taylor expansion of (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 2.380 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.380 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.380 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.380 * [backup-simplify]: Simplify 0.5 into 0.5 2.380 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.380 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.380 * [backup-simplify]: Simplify phi1 into phi1 2.380 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.380 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.380 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.380 * [backup-simplify]: Simplify phi2 into phi2 2.380 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.380 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.380 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.380 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.380 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.381 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.381 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.381 * [backup-simplify]: Simplify (- 0) into 0 2.381 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.381 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.381 * [backup-simplify]: Simplify (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.381 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi1 2.381 * [taylor]: Taking taylor expansion of -1 in phi1 2.381 * [backup-simplify]: Simplify -1 into -1 2.381 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi1 2.381 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.381 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.381 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.381 * [backup-simplify]: Simplify 0.5 into 0.5 2.381 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.382 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.382 * [taylor]: Taking taylor expansion of phi1 in phi1 2.382 * [backup-simplify]: Simplify 0 into 0 2.382 * [backup-simplify]: Simplify 1 into 1 2.382 * [backup-simplify]: Simplify (/ 1 1) into 1 2.382 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.382 * [taylor]: Taking taylor expansion of phi2 in phi1 2.382 * [backup-simplify]: Simplify phi2 into phi2 2.382 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.382 * [backup-simplify]: Simplify (+ 1 0) into 1 2.383 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.383 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.383 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.383 * [backup-simplify]: Simplify lambda1 into lambda1 2.383 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 2.383 * [taylor]: Taking taylor expansion of 0 in phi1 2.383 * [backup-simplify]: Simplify 0 into 0 2.383 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.383 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.383 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.383 * [backup-simplify]: Simplify 0.5 into 0.5 2.383 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.383 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.383 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.383 * [backup-simplify]: Simplify phi1 into phi1 2.383 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.383 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.383 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.383 * [backup-simplify]: Simplify phi2 into phi2 2.383 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.383 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.383 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.383 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.383 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.384 * [backup-simplify]: Simplify (+ 0) into 0 2.384 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.384 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.384 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.385 * [backup-simplify]: Simplify (+ 0 0) into 0 2.385 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.386 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.386 * [backup-simplify]: Simplify (- 0) into 0 2.386 * [backup-simplify]: Simplify (+ 0 0) into 0 2.387 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.387 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.387 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 2.387 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.387 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 2.388 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 2.389 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.389 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.389 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.389 * [backup-simplify]: Simplify (+ 0 0) into 0 2.390 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.391 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 2.391 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 2.391 * [backup-simplify]: Simplify (- 0) into 0 2.392 * [backup-simplify]: Simplify (+ 0 0) into 0 2.392 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.393 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.395 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.395 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.395 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 2.395 * [backup-simplify]: Simplify (+ 0 0) into 0 2.395 * [backup-simplify]: Simplify (+ 0 0) into 0 2.396 * [backup-simplify]: Simplify (+ 0 0) into 0 2.396 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.397 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.397 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.397 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.397 * [backup-simplify]: Simplify (+ 0 0) into 0 2.398 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.399 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.399 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.399 * [backup-simplify]: Simplify (- 0) into 0 2.399 * [backup-simplify]: Simplify (+ 0 0) into 0 2.400 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.401 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0 2.401 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0 2.402 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0 2.402 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.402 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 2.402 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 2.402 * [backup-simplify]: Simplify (+ 0 0) into 0 2.403 * [backup-simplify]: Simplify (- 0) into 0 2.403 * [backup-simplify]: Simplify (+ 0 0) into 0 2.404 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.404 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.404 * [taylor]: Taking taylor expansion of 1/2 in phi2 2.404 * [backup-simplify]: Simplify 1/2 into 1/2 2.404 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.404 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) in phi2 2.404 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) in phi2 2.404 * [taylor]: Taking taylor expansion of (/ 1 (* lambda1 (pow phi1 2))) in phi2 2.404 * [taylor]: Taking taylor expansion of (* lambda1 (pow phi1 2)) in phi2 2.404 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.404 * [backup-simplify]: Simplify lambda1 into lambda1 2.404 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.404 * [taylor]: Taking taylor expansion of phi1 in phi2 2.404 * [backup-simplify]: Simplify phi1 into phi1 2.404 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.404 * [backup-simplify]: Simplify (* lambda1 (pow phi1 2)) into (* lambda1 (pow phi1 2)) 2.404 * [backup-simplify]: Simplify (/ 1 (* lambda1 (pow phi1 2))) into (/ 1 (* lambda1 (pow phi1 2))) 2.404 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda1)) in phi2 2.404 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda1) in phi2 2.404 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.404 * [taylor]: Taking taylor expansion of phi2 in phi2 2.404 * [backup-simplify]: Simplify 0 into 0 2.404 * [backup-simplify]: Simplify 1 into 1 2.404 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.404 * [backup-simplify]: Simplify lambda1 into lambda1 2.405 * [backup-simplify]: Simplify (* 1 1) into 1 2.405 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1 2.405 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 2.405 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda1 phi1)))) in phi2 2.405 * [taylor]: Taking taylor expansion of 2 in phi2 2.405 * [backup-simplify]: Simplify 2 into 2 2.405 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda1 phi1))) in phi2 2.405 * [taylor]: Taking taylor expansion of (* phi2 (* lambda1 phi1)) in phi2 2.405 * [taylor]: Taking taylor expansion of phi2 in phi2 2.405 * [backup-simplify]: Simplify 0 into 0 2.405 * [backup-simplify]: Simplify 1 into 1 2.405 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi2 2.405 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.405 * [backup-simplify]: Simplify lambda1 into lambda1 2.405 * [taylor]: Taking taylor expansion of phi1 in phi2 2.405 * [backup-simplify]: Simplify phi1 into phi1 2.405 * [backup-simplify]: Simplify (* lambda1 phi1) into (* lambda1 phi1) 2.405 * [backup-simplify]: Simplify (* 0 (* lambda1 phi1)) into 0 2.405 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 phi1)) into 0 2.405 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 phi1))) into (* lambda1 phi1) 2.405 * [backup-simplify]: Simplify (/ 1 (* lambda1 phi1)) into (/ 1 (* lambda1 phi1)) 2.405 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.405 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.406 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.406 * [backup-simplify]: Simplify 0.5 into 0.5 2.406 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.406 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.406 * [taylor]: Taking taylor expansion of phi1 in phi2 2.406 * [backup-simplify]: Simplify phi1 into phi1 2.406 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.406 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.406 * [taylor]: Taking taylor expansion of phi2 in phi2 2.406 * [backup-simplify]: Simplify 0 into 0 2.406 * [backup-simplify]: Simplify 1 into 1 2.406 * [backup-simplify]: Simplify (/ 1 1) into 1 2.406 * [backup-simplify]: Simplify (+ 0 1) into 1 2.407 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.407 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.407 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda1)) into (/ 1 lambda1) 2.407 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 2.407 * [backup-simplify]: Simplify (/ (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.407 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.408 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0 2.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 2.408 * [backup-simplify]: Simplify (+ 0 0) into 0 2.408 * [backup-simplify]: Simplify (* 2 (/ 1 (* lambda1 phi1))) into (/ 2 (* lambda1 phi1)) 2.408 * [backup-simplify]: Simplify (- (/ 2 (* lambda1 phi1))) into (- (* 2 (/ 1 (* lambda1 phi1)))) 2.408 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 (* lambda1 phi1))))) into (- (* 2 (/ 1 (* lambda1 phi1)))) 2.409 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 (* lambda1 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 2.409 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 0 (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 2.409 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1 2.409 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 2.409 * [taylor]: Taking taylor expansion of (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 2.409 * [taylor]: Taking taylor expansion of phi1 in phi1 2.409 * [backup-simplify]: Simplify 0 into 0 2.409 * [backup-simplify]: Simplify 1 into 1 2.409 * [taylor]: Taking taylor expansion of (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 2.409 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.409 * [backup-simplify]: Simplify lambda1 into lambda1 2.409 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.409 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.409 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.409 * [backup-simplify]: Simplify 0.5 into 0.5 2.409 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.409 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.409 * [taylor]: Taking taylor expansion of phi1 in phi1 2.409 * [backup-simplify]: Simplify 0 into 0 2.409 * [backup-simplify]: Simplify 1 into 1 2.410 * [backup-simplify]: Simplify (/ 1 1) into 1 2.410 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.410 * [taylor]: Taking taylor expansion of phi2 in phi1 2.410 * [backup-simplify]: Simplify phi2 into phi2 2.410 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.410 * [backup-simplify]: Simplify (+ 1 0) into 1 2.410 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.410 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.410 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.411 * [backup-simplify]: Simplify (* 0 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.411 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.416 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.416 * [backup-simplify]: Simplify (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.416 * [backup-simplify]: Simplify (- (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 2.416 * [taylor]: Taking taylor expansion of (- (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda1 2.416 * [taylor]: Taking taylor expansion of (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 2.416 * [taylor]: Taking taylor expansion of (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 2.416 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.416 * [backup-simplify]: Simplify 0 into 0 2.416 * [backup-simplify]: Simplify 1 into 1 2.416 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.416 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.416 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.416 * [backup-simplify]: Simplify 0.5 into 0.5 2.416 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.416 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.416 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.417 * [backup-simplify]: Simplify phi1 into phi1 2.417 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.417 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.417 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.417 * [backup-simplify]: Simplify phi2 into phi2 2.417 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.417 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.417 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.417 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.417 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.417 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.417 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.418 * [backup-simplify]: Simplify (- 0) into 0 2.418 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.418 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.418 * [backup-simplify]: Simplify (+ 0) into 0 2.419 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.419 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.419 * [backup-simplify]: Simplify (+ 0 0) into 0 2.419 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.420 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.420 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.421 * [backup-simplify]: Simplify (- 0) into 0 2.421 * [backup-simplify]: Simplify (+ 0 0) into 0 2.421 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.421 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.421 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.422 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.422 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 2.423 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.423 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 2.423 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 2.423 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.424 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 2.424 * [backup-simplify]: Simplify (- 0) into 0 2.424 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) 0) into (/ 1 (pow phi1 2)) 2.425 * [backup-simplify]: Simplify (- (/ (/ 1 (pow phi1 2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.425 * [backup-simplify]: Simplify (+ (* 1/2 (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (+ (* 0 (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (* 1/2 (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 2.425 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 2.425 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.425 * [backup-simplify]: Simplify 1/2 into 1/2 2.425 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 2.425 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 2.425 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.425 * [taylor]: Taking taylor expansion of phi1 in phi1 2.425 * [backup-simplify]: Simplify 0 into 0 2.425 * [backup-simplify]: Simplify 1 into 1 2.426 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.426 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.426 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.426 * [backup-simplify]: Simplify 0.5 into 0.5 2.426 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.426 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.426 * [taylor]: Taking taylor expansion of phi1 in phi1 2.426 * [backup-simplify]: Simplify 0 into 0 2.426 * [backup-simplify]: Simplify 1 into 1 2.426 * [backup-simplify]: Simplify (/ 1 1) into 1 2.426 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.426 * [taylor]: Taking taylor expansion of phi2 in phi1 2.426 * [backup-simplify]: Simplify phi2 into phi2 2.426 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.426 * [backup-simplify]: Simplify (+ 1 0) into 1 2.427 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.427 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.427 * [backup-simplify]: Simplify (* 1 1) into 1 2.427 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.427 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.428 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.429 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.429 * [taylor]: Taking taylor expansion of 0 in lambda1 2.429 * [backup-simplify]: Simplify 0 into 0 2.429 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (/ 0 lambda1)))) into 0 2.429 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) into 0 2.429 * [taylor]: Taking taylor expansion of 0 in phi1 2.429 * [backup-simplify]: Simplify 0 into 0 2.429 * [taylor]: Taking taylor expansion of 0 in phi1 2.429 * [backup-simplify]: Simplify 0 into 0 2.430 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.430 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.430 * [backup-simplify]: Simplify (- 0) into 0 2.431 * [taylor]: Taking taylor expansion of 0 in lambda1 2.431 * [backup-simplify]: Simplify 0 into 0 2.431 * [backup-simplify]: Simplify (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.431 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in lambda1 2.431 * [taylor]: Taking taylor expansion of -1 in lambda1 2.431 * [backup-simplify]: Simplify -1 into -1 2.431 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in lambda1 2.431 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.431 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.431 * [taylor]: Taking taylor expansion of 0.5 in lambda1 2.431 * [backup-simplify]: Simplify 0.5 into 0.5 2.431 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.431 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.431 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.431 * [backup-simplify]: Simplify phi1 into phi1 2.431 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.431 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.431 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.431 * [backup-simplify]: Simplify phi2 into phi2 2.431 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.431 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.431 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.431 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.431 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.431 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.431 * [backup-simplify]: Simplify 0 into 0 2.431 * [backup-simplify]: Simplify 1 into 1 2.432 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.432 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.432 * [backup-simplify]: Simplify (- 0) into 0 2.432 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.432 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.432 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.432 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.432 * [taylor]: Taking taylor expansion of 0 in lambda1 2.432 * [backup-simplify]: Simplify 0 into 0 2.432 * [taylor]: Taking taylor expansion of 0 in lambda1 2.432 * [backup-simplify]: Simplify 0 into 0 2.433 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.433 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.434 * [backup-simplify]: Simplify (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* 1 (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (/ 1 lambda2))))) (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1)))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (pow (/ 1 lambda2) 2))))))) into (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))) 2.436 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) 2.436 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda2 phi2 phi1 lambda1) around 0 2.436 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1 2.436 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1 2.436 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1 2.436 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 2.436 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 2.436 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.436 * [backup-simplify]: Simplify phi2 into phi2 2.436 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.436 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.436 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1 2.436 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 2.436 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.436 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.436 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.436 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.436 * [backup-simplify]: Simplify -0.5 into -0.5 2.436 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.436 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.436 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.436 * [backup-simplify]: Simplify phi1 into phi1 2.436 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.436 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.436 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.436 * [backup-simplify]: Simplify phi2 into phi2 2.436 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.436 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.436 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.437 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.437 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.437 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.437 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.437 * [backup-simplify]: Simplify (- 0) into 0 2.437 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.437 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 2.437 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.437 * [backup-simplify]: Simplify lambda2 into lambda2 2.438 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.438 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.438 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.438 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1 2.438 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 2.438 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.438 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.438 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.438 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.438 * [backup-simplify]: Simplify -0.5 into -0.5 2.438 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.438 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.438 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.438 * [backup-simplify]: Simplify phi1 into phi1 2.438 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.438 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.438 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.438 * [backup-simplify]: Simplify phi2 into phi2 2.438 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.438 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.438 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.439 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.439 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.439 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.439 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.439 * [backup-simplify]: Simplify (- 0) into 0 2.439 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.439 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 2.439 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.439 * [backup-simplify]: Simplify 0 into 0 2.439 * [backup-simplify]: Simplify 1 into 1 2.440 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.440 * [backup-simplify]: Simplify (* 1 1) into 1 2.440 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.440 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 2.440 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 2.440 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.440 * [backup-simplify]: Simplify phi1 into phi1 2.440 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.440 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.440 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1 2.440 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 2.440 * [taylor]: Taking taylor expansion of 2 in lambda1 2.440 * [backup-simplify]: Simplify 2 into 2 2.440 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 2.440 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 2.440 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.440 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.440 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.440 * [backup-simplify]: Simplify -0.5 into -0.5 2.440 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.441 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.441 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.441 * [backup-simplify]: Simplify phi1 into phi1 2.441 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.441 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.441 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.441 * [backup-simplify]: Simplify phi2 into phi2 2.441 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.441 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.441 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.441 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.441 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.441 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.441 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.441 * [backup-simplify]: Simplify (- 0) into 0 2.442 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.442 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 2.442 * [taylor]: Taking taylor expansion of lambda2 in lambda1 2.442 * [backup-simplify]: Simplify lambda2 into lambda2 2.442 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.442 * [backup-simplify]: Simplify 0 into 0 2.442 * [backup-simplify]: Simplify 1 into 1 2.442 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.442 * [backup-simplify]: Simplify (* lambda2 0) into 0 2.442 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 2.442 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 2.443 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 2.443 * [taylor]: Taking taylor expansion of 2 in lambda1 2.443 * [backup-simplify]: Simplify 2 into 2 2.443 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 2.443 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 2.443 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.443 * [backup-simplify]: Simplify phi2 into phi2 2.443 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.443 * [backup-simplify]: Simplify phi1 into phi1 2.443 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.443 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.443 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.443 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.443 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.443 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.444 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.444 * [backup-simplify]: Simplify (+ 0) into 0 2.444 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.444 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.445 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.445 * [backup-simplify]: Simplify (+ 0 0) into 0 2.445 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.446 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.447 * [backup-simplify]: Simplify (- 0) into 0 2.447 * [backup-simplify]: Simplify (+ 0 0) into 0 2.447 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.448 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.448 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.449 * [backup-simplify]: Simplify (+ 0 0) into 0 2.449 * [backup-simplify]: Simplify (+ 0 0) into 0 2.449 * [backup-simplify]: Simplify (+ 0 0) into 0 2.449 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.450 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 2.450 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.450 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 2.451 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2.451 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1 2.451 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1 2.451 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1 2.451 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 2.451 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 2.451 * [taylor]: Taking taylor expansion of phi2 in phi1 2.451 * [backup-simplify]: Simplify phi2 into phi2 2.451 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.451 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.451 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1 2.451 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 2.451 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.451 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.451 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.451 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.451 * [backup-simplify]: Simplify -0.5 into -0.5 2.451 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.451 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.451 * [taylor]: Taking taylor expansion of phi1 in phi1 2.451 * [backup-simplify]: Simplify 0 into 0 2.451 * [backup-simplify]: Simplify 1 into 1 2.452 * [backup-simplify]: Simplify (/ 1 1) into 1 2.452 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.452 * [taylor]: Taking taylor expansion of phi2 in phi1 2.452 * [backup-simplify]: Simplify phi2 into phi2 2.452 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.452 * [backup-simplify]: Simplify (+ 1 0) into 1 2.452 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.452 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.452 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 2.452 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.452 * [backup-simplify]: Simplify lambda2 into lambda2 2.453 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.453 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.453 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.453 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1 2.453 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 2.453 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.453 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.453 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.453 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.453 * [backup-simplify]: Simplify -0.5 into -0.5 2.453 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.453 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.453 * [taylor]: Taking taylor expansion of phi1 in phi1 2.453 * [backup-simplify]: Simplify 0 into 0 2.453 * [backup-simplify]: Simplify 1 into 1 2.453 * [backup-simplify]: Simplify (/ 1 1) into 1 2.453 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.453 * [taylor]: Taking taylor expansion of phi2 in phi1 2.453 * [backup-simplify]: Simplify phi2 into phi2 2.453 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.454 * [backup-simplify]: Simplify (+ 1 0) into 1 2.454 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.454 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.454 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 2.454 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.454 * [backup-simplify]: Simplify lambda1 into lambda1 2.454 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.454 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.455 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.455 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 2.455 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.455 * [taylor]: Taking taylor expansion of phi1 in phi1 2.455 * [backup-simplify]: Simplify 0 into 0 2.455 * [backup-simplify]: Simplify 1 into 1 2.455 * [backup-simplify]: Simplify (* 1 1) into 1 2.455 * [backup-simplify]: Simplify (/ 1 1) into 1 2.455 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 2.455 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 2.455 * [taylor]: Taking taylor expansion of 2 in phi1 2.455 * [backup-simplify]: Simplify 2 into 2 2.455 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 2.455 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 2.455 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.455 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.455 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.455 * [backup-simplify]: Simplify -0.5 into -0.5 2.455 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.455 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.455 * [taylor]: Taking taylor expansion of phi1 in phi1 2.455 * [backup-simplify]: Simplify 0 into 0 2.455 * [backup-simplify]: Simplify 1 into 1 2.456 * [backup-simplify]: Simplify (/ 1 1) into 1 2.456 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.456 * [taylor]: Taking taylor expansion of phi2 in phi1 2.456 * [backup-simplify]: Simplify phi2 into phi2 2.456 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.456 * [backup-simplify]: Simplify (+ 1 0) into 1 2.456 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.456 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.457 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 2.457 * [taylor]: Taking taylor expansion of lambda2 in phi1 2.457 * [backup-simplify]: Simplify lambda2 into lambda2 2.457 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.457 * [backup-simplify]: Simplify lambda1 into lambda1 2.457 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.457 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.457 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.457 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 2.457 * [taylor]: Taking taylor expansion of 2 in phi1 2.457 * [backup-simplify]: Simplify 2 into 2 2.457 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 2.457 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 2.457 * [taylor]: Taking taylor expansion of phi2 in phi1 2.457 * [backup-simplify]: Simplify phi2 into phi2 2.457 * [taylor]: Taking taylor expansion of phi1 in phi1 2.457 * [backup-simplify]: Simplify 0 into 0 2.457 * [backup-simplify]: Simplify 1 into 1 2.457 * [backup-simplify]: Simplify (* phi2 0) into 0 2.457 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 2.458 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.458 * [backup-simplify]: Simplify (+ 0 1) into 1 2.458 * [backup-simplify]: Simplify (+ 0 1) into 1 2.458 * [backup-simplify]: Simplify (+ 0 1) into 1 2.459 * [backup-simplify]: Simplify (+ 1 0) into 1 2.459 * [backup-simplify]: Simplify (sqrt 1) into 1 2.459 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.460 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.460 * [backup-simplify]: Simplify (+ 0 0) into 0 2.460 * [backup-simplify]: Simplify (+ 0 0) into 0 2.460 * [backup-simplify]: Simplify (+ 0 0) into 0 2.460 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 2.460 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2)) 2.461 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 2.461 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 2.461 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 2.461 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2 2.461 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 2.461 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2 2.461 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 2.461 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.461 * [taylor]: Taking taylor expansion of phi2 in phi2 2.461 * [backup-simplify]: Simplify 0 into 0 2.461 * [backup-simplify]: Simplify 1 into 1 2.461 * [backup-simplify]: Simplify (* 1 1) into 1 2.462 * [backup-simplify]: Simplify (/ 1 1) into 1 2.462 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 2.462 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 2.462 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.462 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.462 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.462 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.462 * [backup-simplify]: Simplify -0.5 into -0.5 2.462 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.462 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.462 * [taylor]: Taking taylor expansion of phi1 in phi2 2.462 * [backup-simplify]: Simplify phi1 into phi1 2.462 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.462 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.462 * [taylor]: Taking taylor expansion of phi2 in phi2 2.462 * [backup-simplify]: Simplify 0 into 0 2.462 * [backup-simplify]: Simplify 1 into 1 2.462 * [backup-simplify]: Simplify (/ 1 1) into 1 2.463 * [backup-simplify]: Simplify (+ 0 1) into 1 2.463 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.463 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.463 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 2.463 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.463 * [backup-simplify]: Simplify lambda2 into lambda2 2.463 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.463 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 2.463 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 2.464 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 2.464 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 2.464 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.464 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.464 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.464 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.464 * [backup-simplify]: Simplify -0.5 into -0.5 2.464 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.464 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.464 * [taylor]: Taking taylor expansion of phi1 in phi2 2.464 * [backup-simplify]: Simplify phi1 into phi1 2.464 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.464 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.464 * [taylor]: Taking taylor expansion of phi2 in phi2 2.464 * [backup-simplify]: Simplify 0 into 0 2.464 * [backup-simplify]: Simplify 1 into 1 2.464 * [backup-simplify]: Simplify (/ 1 1) into 1 2.464 * [backup-simplify]: Simplify (+ 0 1) into 1 2.465 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.465 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.465 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 2.465 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.465 * [backup-simplify]: Simplify lambda1 into lambda1 2.465 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.465 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.465 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.465 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 2.465 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.465 * [taylor]: Taking taylor expansion of phi1 in phi2 2.465 * [backup-simplify]: Simplify phi1 into phi1 2.465 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.465 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.465 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 2.465 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 2.466 * [taylor]: Taking taylor expansion of 2 in phi2 2.466 * [backup-simplify]: Simplify 2 into 2 2.466 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 2.466 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 2.466 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.466 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.466 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.466 * [backup-simplify]: Simplify -0.5 into -0.5 2.466 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.466 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.466 * [taylor]: Taking taylor expansion of phi1 in phi2 2.466 * [backup-simplify]: Simplify phi1 into phi1 2.466 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.466 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.466 * [taylor]: Taking taylor expansion of phi2 in phi2 2.466 * [backup-simplify]: Simplify 0 into 0 2.466 * [backup-simplify]: Simplify 1 into 1 2.466 * [backup-simplify]: Simplify (/ 1 1) into 1 2.466 * [backup-simplify]: Simplify (+ 0 1) into 1 2.467 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.467 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.467 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 2.467 * [taylor]: Taking taylor expansion of lambda2 in phi2 2.467 * [backup-simplify]: Simplify lambda2 into lambda2 2.467 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.467 * [backup-simplify]: Simplify lambda1 into lambda1 2.467 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.467 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 2.467 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 2.467 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 2.467 * [taylor]: Taking taylor expansion of 2 in phi2 2.467 * [backup-simplify]: Simplify 2 into 2 2.467 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 2.467 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.467 * [taylor]: Taking taylor expansion of phi2 in phi2 2.467 * [backup-simplify]: Simplify 0 into 0 2.467 * [backup-simplify]: Simplify 1 into 1 2.467 * [taylor]: Taking taylor expansion of phi1 in phi2 2.467 * [backup-simplify]: Simplify phi1 into phi1 2.467 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.468 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.468 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.468 * [backup-simplify]: Simplify (+ 1 0) into 1 2.468 * [backup-simplify]: Simplify (+ 1 0) into 1 2.469 * [backup-simplify]: Simplify (sqrt 1) into 1 2.469 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.469 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.470 * [backup-simplify]: Simplify (+ 0 0) into 0 2.470 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 2.470 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 2.470 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 2.470 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 2.470 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 2.470 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 2.470 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 2.470 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 2.470 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.470 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.470 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.470 * [backup-simplify]: Simplify phi2 into phi2 2.471 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.471 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.471 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 2.471 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 2.471 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.471 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.471 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.471 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.471 * [backup-simplify]: Simplify -0.5 into -0.5 2.471 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.471 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.471 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.471 * [backup-simplify]: Simplify phi1 into phi1 2.471 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.471 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.471 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.471 * [backup-simplify]: Simplify phi2 into phi2 2.471 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.471 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.471 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.471 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.471 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.472 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.472 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.472 * [backup-simplify]: Simplify (- 0) into 0 2.472 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.472 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.472 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.472 * [backup-simplify]: Simplify 0 into 0 2.472 * [backup-simplify]: Simplify 1 into 1 2.472 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.473 * [backup-simplify]: Simplify (* 1 1) into 1 2.473 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.473 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 2.473 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 2.473 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.473 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.473 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.473 * [backup-simplify]: Simplify -0.5 into -0.5 2.473 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.473 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.473 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.473 * [backup-simplify]: Simplify phi1 into phi1 2.473 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.473 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.473 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.473 * [backup-simplify]: Simplify phi2 into phi2 2.473 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.473 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.473 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.473 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.474 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.474 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.474 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.474 * [backup-simplify]: Simplify (- 0) into 0 2.474 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.474 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.474 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.474 * [backup-simplify]: Simplify lambda1 into lambda1 2.475 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.475 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.475 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.475 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.475 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.475 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.475 * [backup-simplify]: Simplify phi1 into phi1 2.475 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.475 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.475 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.475 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 2.475 * [taylor]: Taking taylor expansion of 2 in lambda2 2.475 * [backup-simplify]: Simplify 2 into 2 2.475 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 2.475 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.475 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.475 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.475 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.475 * [backup-simplify]: Simplify -0.5 into -0.5 2.475 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.475 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.475 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.475 * [backup-simplify]: Simplify phi1 into phi1 2.475 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.475 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.475 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.475 * [backup-simplify]: Simplify phi2 into phi2 2.475 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.475 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.476 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.476 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.476 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.476 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.476 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.476 * [backup-simplify]: Simplify (- 0) into 0 2.476 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.476 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 2.476 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.476 * [backup-simplify]: Simplify 0 into 0 2.476 * [backup-simplify]: Simplify 1 into 1 2.476 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.476 * [backup-simplify]: Simplify lambda1 into lambda1 2.477 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.477 * [backup-simplify]: Simplify (* 0 lambda1) into 0 2.477 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 2.477 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 2.477 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.477 * [taylor]: Taking taylor expansion of 2 in lambda2 2.477 * [backup-simplify]: Simplify 2 into 2 2.477 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.477 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.477 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.477 * [backup-simplify]: Simplify phi2 into phi2 2.477 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.477 * [backup-simplify]: Simplify phi1 into phi1 2.477 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.477 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.478 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.478 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.478 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.478 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.478 * [backup-simplify]: Simplify (+ 0) into 0 2.479 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.479 * [backup-simplify]: Simplify (+ 0 0) into 0 2.480 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.480 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.481 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.481 * [backup-simplify]: Simplify (- 0) into 0 2.481 * [backup-simplify]: Simplify (+ 0 0) into 0 2.481 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.482 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.482 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.483 * [backup-simplify]: Simplify (+ 0 0) into 0 2.483 * [backup-simplify]: Simplify (+ 0 0) into 0 2.483 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.483 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.484 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.484 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.484 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.484 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2 2.484 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2 2.484 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2 2.485 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 2.485 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 2.485 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.485 * [backup-simplify]: Simplify phi2 into phi2 2.485 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 2.485 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 2.485 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2 2.485 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 2.485 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.485 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.485 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.485 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.485 * [backup-simplify]: Simplify -0.5 into -0.5 2.485 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.485 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.485 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.485 * [backup-simplify]: Simplify phi1 into phi1 2.485 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.485 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.485 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.485 * [backup-simplify]: Simplify phi2 into phi2 2.485 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.485 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.485 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.485 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.485 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.485 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.486 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.486 * [backup-simplify]: Simplify (- 0) into 0 2.486 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.486 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 2.486 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.486 * [backup-simplify]: Simplify 0 into 0 2.486 * [backup-simplify]: Simplify 1 into 1 2.486 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.487 * [backup-simplify]: Simplify (* 1 1) into 1 2.487 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.487 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2 2.487 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 2.487 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.487 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.487 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.487 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.487 * [backup-simplify]: Simplify -0.5 into -0.5 2.487 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.487 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.487 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.487 * [backup-simplify]: Simplify phi1 into phi1 2.487 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.487 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.487 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.487 * [backup-simplify]: Simplify phi2 into phi2 2.487 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.487 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.487 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.487 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.487 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.488 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.488 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.488 * [backup-simplify]: Simplify (- 0) into 0 2.488 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.488 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 2.488 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.488 * [backup-simplify]: Simplify lambda1 into lambda1 2.488 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.488 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 2.489 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 2.489 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 2.489 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 2.489 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.489 * [backup-simplify]: Simplify phi1 into phi1 2.489 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.489 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.489 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 2.489 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 2.489 * [taylor]: Taking taylor expansion of 2 in lambda2 2.489 * [backup-simplify]: Simplify 2 into 2 2.489 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 2.489 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 2.489 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 2.489 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 2.489 * [taylor]: Taking taylor expansion of -0.5 in lambda2 2.489 * [backup-simplify]: Simplify -0.5 into -0.5 2.489 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 2.489 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 2.489 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.489 * [backup-simplify]: Simplify phi1 into phi1 2.489 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.489 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 2.489 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.489 * [backup-simplify]: Simplify phi2 into phi2 2.489 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.489 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.489 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.489 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.489 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.490 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.490 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.490 * [backup-simplify]: Simplify (- 0) into 0 2.490 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.490 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 2.490 * [taylor]: Taking taylor expansion of lambda2 in lambda2 2.490 * [backup-simplify]: Simplify 0 into 0 2.490 * [backup-simplify]: Simplify 1 into 1 2.490 * [taylor]: Taking taylor expansion of lambda1 in lambda2 2.490 * [backup-simplify]: Simplify lambda1 into lambda1 2.490 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.490 * [backup-simplify]: Simplify (* 0 lambda1) into 0 2.491 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 2.491 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 2.491 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 2.491 * [taylor]: Taking taylor expansion of 2 in lambda2 2.491 * [backup-simplify]: Simplify 2 into 2 2.491 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 2.491 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 2.491 * [taylor]: Taking taylor expansion of phi2 in lambda2 2.491 * [backup-simplify]: Simplify phi2 into phi2 2.491 * [taylor]: Taking taylor expansion of phi1 in lambda2 2.491 * [backup-simplify]: Simplify phi1 into phi1 2.491 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 2.491 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 2.491 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.491 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.492 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 2.492 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.492 * [backup-simplify]: Simplify (+ 0) into 0 2.493 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.493 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.493 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.493 * [backup-simplify]: Simplify (+ 0 0) into 0 2.493 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.494 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.494 * [backup-simplify]: Simplify (- 0) into 0 2.495 * [backup-simplify]: Simplify (+ 0 0) into 0 2.495 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.495 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.496 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 2.496 * [backup-simplify]: Simplify (+ 0 0) into 0 2.497 * [backup-simplify]: Simplify (+ 0 0) into 0 2.497 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.497 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 2.497 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.498 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2.498 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.498 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.498 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.498 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.498 * [backup-simplify]: Simplify -0.5 into -0.5 2.498 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.498 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.498 * [taylor]: Taking taylor expansion of phi1 in phi2 2.498 * [backup-simplify]: Simplify phi1 into phi1 2.498 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.498 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.498 * [taylor]: Taking taylor expansion of phi2 in phi2 2.498 * [backup-simplify]: Simplify 0 into 0 2.498 * [backup-simplify]: Simplify 1 into 1 2.499 * [backup-simplify]: Simplify (/ 1 1) into 1 2.499 * [backup-simplify]: Simplify (+ 0 1) into 1 2.499 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.499 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.499 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi2 2.499 * [taylor]: Taking taylor expansion of -1 in phi2 2.499 * [backup-simplify]: Simplify -1 into -1 2.499 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi2 2.499 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.499 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.499 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.500 * [backup-simplify]: Simplify -0.5 into -0.5 2.500 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.500 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.500 * [taylor]: Taking taylor expansion of phi1 in phi2 2.500 * [backup-simplify]: Simplify phi1 into phi1 2.500 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.500 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.500 * [taylor]: Taking taylor expansion of phi2 in phi2 2.500 * [backup-simplify]: Simplify 0 into 0 2.500 * [backup-simplify]: Simplify 1 into 1 2.500 * [backup-simplify]: Simplify (/ 1 1) into 1 2.500 * [backup-simplify]: Simplify (+ 0 1) into 1 2.500 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.501 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.501 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.501 * [backup-simplify]: Simplify lambda1 into lambda1 2.501 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 2.501 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.501 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.501 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.501 * [backup-simplify]: Simplify -0.5 into -0.5 2.501 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.501 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.501 * [taylor]: Taking taylor expansion of phi1 in phi1 2.501 * [backup-simplify]: Simplify 0 into 0 2.501 * [backup-simplify]: Simplify 1 into 1 2.501 * [backup-simplify]: Simplify (/ 1 1) into 1 2.501 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.501 * [taylor]: Taking taylor expansion of phi2 in phi1 2.501 * [backup-simplify]: Simplify phi2 into phi2 2.501 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.502 * [backup-simplify]: Simplify (+ 1 0) into 1 2.502 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.502 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.503 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.503 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.503 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.503 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.504 * [backup-simplify]: Simplify (+ 0 0) into 0 2.504 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.505 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.505 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.506 * [backup-simplify]: Simplify (- 0) into 0 2.506 * [backup-simplify]: Simplify (+ 0 0) into 0 2.506 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.507 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 2.508 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.508 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 2.509 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 2.509 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) 2.509 * [backup-simplify]: Simplify (+ 0) into 0 2.510 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.510 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.510 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.510 * [backup-simplify]: Simplify (+ 0 0) into 0 2.511 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.511 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.512 * [backup-simplify]: Simplify (- 0) into 0 2.512 * [backup-simplify]: Simplify (+ 0 0) into 0 2.512 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.513 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 2.513 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 2.513 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 2.513 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 2.514 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1))) 2.514 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 2.514 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 2.515 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.516 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.516 * [taylor]: Taking taylor expansion of 1/2 in phi2 2.516 * [backup-simplify]: Simplify 1/2 into 1/2 2.516 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.516 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 2.516 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2 2.516 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 2.516 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.516 * [taylor]: Taking taylor expansion of phi2 in phi2 2.516 * [backup-simplify]: Simplify 0 into 0 2.516 * [backup-simplify]: Simplify 1 into 1 2.516 * [backup-simplify]: Simplify (* 1 1) into 1 2.520 * [backup-simplify]: Simplify (/ 1 1) into 1 2.520 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 2.520 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.520 * [taylor]: Taking taylor expansion of phi1 in phi2 2.521 * [backup-simplify]: Simplify phi1 into phi1 2.521 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.521 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 2.521 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 2.521 * [taylor]: Taking taylor expansion of 2 in phi2 2.521 * [backup-simplify]: Simplify 2 into 2 2.521 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 2.521 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 2.521 * [taylor]: Taking taylor expansion of phi2 in phi2 2.521 * [backup-simplify]: Simplify 0 into 0 2.521 * [backup-simplify]: Simplify 1 into 1 2.521 * [taylor]: Taking taylor expansion of phi1 in phi2 2.521 * [backup-simplify]: Simplify phi1 into phi1 2.521 * [backup-simplify]: Simplify (* 0 phi1) into 0 2.521 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 2.521 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.521 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.522 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.522 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.522 * [backup-simplify]: Simplify -0.5 into -0.5 2.522 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.522 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.522 * [taylor]: Taking taylor expansion of phi1 in phi2 2.522 * [backup-simplify]: Simplify phi1 into phi1 2.522 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.522 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.522 * [taylor]: Taking taylor expansion of phi2 in phi2 2.522 * [backup-simplify]: Simplify 0 into 0 2.522 * [backup-simplify]: Simplify 1 into 1 2.522 * [backup-simplify]: Simplify (/ 1 1) into 1 2.522 * [backup-simplify]: Simplify (+ 0 1) into 1 2.523 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.523 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.523 * [backup-simplify]: Simplify (+ 1 0) into 1 2.523 * [backup-simplify]: Simplify (+ 1 0) into 1 2.523 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.524 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.524 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 2.524 * [backup-simplify]: Simplify (+ 0 0) into 0 2.525 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 2.525 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1))) 2.525 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 2.525 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) 2.525 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 2.525 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1 2.525 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1 2.525 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1 2.525 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.525 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.525 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.526 * [backup-simplify]: Simplify -0.5 into -0.5 2.526 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.526 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.526 * [taylor]: Taking taylor expansion of phi1 in phi1 2.526 * [backup-simplify]: Simplify 0 into 0 2.526 * [backup-simplify]: Simplify 1 into 1 2.526 * [backup-simplify]: Simplify (/ 1 1) into 1 2.526 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.526 * [taylor]: Taking taylor expansion of phi2 in phi1 2.526 * [backup-simplify]: Simplify phi2 into phi2 2.526 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.526 * [backup-simplify]: Simplify (+ 1 0) into 1 2.526 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.527 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.527 * [taylor]: Taking taylor expansion of phi1 in phi1 2.527 * [backup-simplify]: Simplify 0 into 0 2.527 * [backup-simplify]: Simplify 1 into 1 2.527 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.527 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.527 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.527 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.527 * [taylor]: Taking taylor expansion of (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 2.527 * [taylor]: Taking taylor expansion of (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 2.527 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.527 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.527 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.527 * [backup-simplify]: Simplify -0.5 into -0.5 2.527 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.528 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.528 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.528 * [backup-simplify]: Simplify phi1 into phi1 2.528 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.528 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.528 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.528 * [backup-simplify]: Simplify phi2 into phi2 2.528 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.528 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.528 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.528 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.528 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.528 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.528 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.528 * [backup-simplify]: Simplify (- 0) into 0 2.529 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.529 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.529 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.529 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi1 2.529 * [taylor]: Taking taylor expansion of -1 in phi1 2.529 * [backup-simplify]: Simplify -1 into -1 2.529 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi1 2.529 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.529 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.529 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.529 * [backup-simplify]: Simplify -0.5 into -0.5 2.529 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.529 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.529 * [taylor]: Taking taylor expansion of phi1 in phi1 2.529 * [backup-simplify]: Simplify 0 into 0 2.529 * [backup-simplify]: Simplify 1 into 1 2.529 * [backup-simplify]: Simplify (/ 1 1) into 1 2.529 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.529 * [taylor]: Taking taylor expansion of phi2 in phi1 2.529 * [backup-simplify]: Simplify phi2 into phi2 2.529 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.530 * [backup-simplify]: Simplify (+ 1 0) into 1 2.530 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.530 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.530 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.530 * [backup-simplify]: Simplify lambda1 into lambda1 2.530 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 2.530 * [taylor]: Taking taylor expansion of 0 in phi1 2.530 * [backup-simplify]: Simplify 0 into 0 2.530 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.530 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.530 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.530 * [backup-simplify]: Simplify -0.5 into -0.5 2.530 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.530 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.530 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.530 * [backup-simplify]: Simplify phi1 into phi1 2.531 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.531 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.531 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.531 * [backup-simplify]: Simplify phi2 into phi2 2.531 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.531 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.531 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.531 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.531 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.531 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 2.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 2.532 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 2.532 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.533 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.533 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.533 * [backup-simplify]: Simplify (+ 0 0) into 0 2.534 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 2.535 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 2.535 * [backup-simplify]: Simplify (- 0) into 0 2.536 * [backup-simplify]: Simplify (+ 0 0) into 0 2.536 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.537 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 2.538 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.538 * [backup-simplify]: Simplify (+ 0) into 0 2.539 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.539 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.539 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.539 * [backup-simplify]: Simplify (+ 0 0) into 0 2.540 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.540 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.541 * [backup-simplify]: Simplify (- 0) into 0 2.541 * [backup-simplify]: Simplify (+ 0 0) into 0 2.541 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 2.541 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 2.542 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 2.542 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 2.542 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 2.542 * [backup-simplify]: Simplify (+ 0 0) into 0 2.542 * [backup-simplify]: Simplify (+ 0 0) into 0 2.543 * [backup-simplify]: Simplify (+ 0 0) into 0 2.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 2.544 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 2.544 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 2.544 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 2.544 * [backup-simplify]: Simplify (+ 0 0) into 0 2.545 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 2.545 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.546 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 2.546 * [backup-simplify]: Simplify (- 0) into 0 2.546 * [backup-simplify]: Simplify (+ 0 0) into 0 2.546 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.547 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0 2.548 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0 2.548 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0 2.549 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 2.549 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 2.549 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 2.549 * [backup-simplify]: Simplify (+ 0 0) into 0 2.549 * [backup-simplify]: Simplify (- 0) into 0 2.550 * [backup-simplify]: Simplify (+ 0 0) into 0 2.551 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.551 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 2.551 * [taylor]: Taking taylor expansion of 1/2 in phi2 2.551 * [backup-simplify]: Simplify 1/2 into 1/2 2.551 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 2.551 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) in phi2 2.551 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) in phi2 2.551 * [taylor]: Taking taylor expansion of (/ 1 (* lambda1 (pow phi1 2))) in phi2 2.551 * [taylor]: Taking taylor expansion of (* lambda1 (pow phi1 2)) in phi2 2.551 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.551 * [backup-simplify]: Simplify lambda1 into lambda1 2.551 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 2.551 * [taylor]: Taking taylor expansion of phi1 in phi2 2.551 * [backup-simplify]: Simplify phi1 into phi1 2.551 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 2.551 * [backup-simplify]: Simplify (* lambda1 (pow phi1 2)) into (* lambda1 (pow phi1 2)) 2.551 * [backup-simplify]: Simplify (/ 1 (* lambda1 (pow phi1 2))) into (/ 1 (* lambda1 (pow phi1 2))) 2.551 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda1)) in phi2 2.551 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda1) in phi2 2.551 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 2.551 * [taylor]: Taking taylor expansion of phi2 in phi2 2.551 * [backup-simplify]: Simplify 0 into 0 2.551 * [backup-simplify]: Simplify 1 into 1 2.551 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.551 * [backup-simplify]: Simplify lambda1 into lambda1 2.551 * [backup-simplify]: Simplify (* 1 1) into 1 2.551 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1 2.551 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 2.551 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda1 phi1)))) in phi2 2.552 * [taylor]: Taking taylor expansion of 2 in phi2 2.552 * [backup-simplify]: Simplify 2 into 2 2.552 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda1 phi1))) in phi2 2.552 * [taylor]: Taking taylor expansion of (* phi2 (* lambda1 phi1)) in phi2 2.552 * [taylor]: Taking taylor expansion of phi2 in phi2 2.552 * [backup-simplify]: Simplify 0 into 0 2.552 * [backup-simplify]: Simplify 1 into 1 2.552 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi2 2.552 * [taylor]: Taking taylor expansion of lambda1 in phi2 2.552 * [backup-simplify]: Simplify lambda1 into lambda1 2.552 * [taylor]: Taking taylor expansion of phi1 in phi2 2.552 * [backup-simplify]: Simplify phi1 into phi1 2.552 * [backup-simplify]: Simplify (* lambda1 phi1) into (* lambda1 phi1) 2.552 * [backup-simplify]: Simplify (* 0 (* lambda1 phi1)) into 0 2.552 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 phi1)) into 0 2.552 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 phi1))) into (* lambda1 phi1) 2.552 * [backup-simplify]: Simplify (/ 1 (* lambda1 phi1)) into (/ 1 (* lambda1 phi1)) 2.552 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.552 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.552 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.552 * [backup-simplify]: Simplify -0.5 into -0.5 2.552 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.552 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.552 * [taylor]: Taking taylor expansion of phi1 in phi2 2.552 * [backup-simplify]: Simplify phi1 into phi1 2.552 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.552 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.552 * [taylor]: Taking taylor expansion of phi2 in phi2 2.552 * [backup-simplify]: Simplify 0 into 0 2.552 * [backup-simplify]: Simplify 1 into 1 2.553 * [backup-simplify]: Simplify (/ 1 1) into 1 2.553 * [backup-simplify]: Simplify (+ 0 1) into 1 2.553 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.553 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.553 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda1)) into (/ 1 lambda1) 2.553 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 2.553 * [backup-simplify]: Simplify (/ (/ 1 lambda1) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.554 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.554 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0 2.554 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 2.555 * [backup-simplify]: Simplify (+ 0 0) into 0 2.555 * [backup-simplify]: Simplify (* 2 (/ 1 (* lambda1 phi1))) into (/ 2 (* lambda1 phi1)) 2.555 * [backup-simplify]: Simplify (- (/ 2 (* lambda1 phi1))) into (- (* 2 (/ 1 (* lambda1 phi1)))) 2.555 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 (* lambda1 phi1))))) into (- (* 2 (/ 1 (* lambda1 phi1)))) 2.555 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 (* lambda1 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1))))) 2.555 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)))))) (* 0 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)))) 2.556 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)))) in phi1 2.556 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1))) in phi1 2.556 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)) in phi1 2.556 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.556 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.556 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.556 * [backup-simplify]: Simplify -0.5 into -0.5 2.556 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.556 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.556 * [taylor]: Taking taylor expansion of phi1 in phi1 2.556 * [backup-simplify]: Simplify 0 into 0 2.556 * [backup-simplify]: Simplify 1 into 1 2.556 * [backup-simplify]: Simplify (/ 1 1) into 1 2.556 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.556 * [taylor]: Taking taylor expansion of phi2 in phi1 2.556 * [backup-simplify]: Simplify phi2 into phi2 2.556 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.556 * [backup-simplify]: Simplify (+ 1 0) into 1 2.557 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.557 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.557 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 2.557 * [taylor]: Taking taylor expansion of lambda1 in phi1 2.557 * [backup-simplify]: Simplify lambda1 into lambda1 2.557 * [taylor]: Taking taylor expansion of phi1 in phi1 2.557 * [backup-simplify]: Simplify 0 into 0 2.557 * [backup-simplify]: Simplify 1 into 1 2.557 * [backup-simplify]: Simplify (* lambda1 0) into 0 2.557 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.557 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 2.558 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* 0 0)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 2.558 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.558 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) 2.558 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) in lambda1 2.558 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in lambda1 2.558 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in lambda1 2.558 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.558 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.558 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.558 * [backup-simplify]: Simplify -0.5 into -0.5 2.558 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.558 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.558 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.558 * [backup-simplify]: Simplify phi1 into phi1 2.558 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.558 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.558 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.558 * [backup-simplify]: Simplify phi2 into phi2 2.558 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.558 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.559 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.559 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.559 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.559 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.559 * [backup-simplify]: Simplify 0 into 0 2.559 * [backup-simplify]: Simplify 1 into 1 2.559 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.559 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.559 * [backup-simplify]: Simplify (- 0) into 0 2.559 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.560 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.560 * [backup-simplify]: Simplify (+ 0) into 0 2.560 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.560 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.560 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 2.561 * [backup-simplify]: Simplify (+ 0 0) into 0 2.561 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 2.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 2.562 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 2.562 * [backup-simplify]: Simplify (- 0) into 0 2.562 * [backup-simplify]: Simplify (+ 0 0) into 0 2.563 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.563 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.563 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.563 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.564 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 2.565 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 2.565 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2)) 2.565 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 2.566 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 2.566 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 2.566 * [backup-simplify]: Simplify (- 0) into 0 2.566 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) 0) into (/ 1 (pow phi1 2)) 2.567 * [backup-simplify]: Simplify (- (/ (/ 1 (pow phi1 2)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) 2.567 * [backup-simplify]: Simplify (+ (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) (+ (* 0 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) 2.568 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in phi1 2.568 * [taylor]: Taking taylor expansion of 1/2 in phi1 2.568 * [backup-simplify]: Simplify 1/2 into 1/2 2.568 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in phi1 2.568 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in phi1 2.568 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.568 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.568 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.568 * [backup-simplify]: Simplify -0.5 into -0.5 2.568 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.568 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.568 * [taylor]: Taking taylor expansion of phi1 in phi1 2.568 * [backup-simplify]: Simplify 0 into 0 2.568 * [backup-simplify]: Simplify 1 into 1 2.568 * [backup-simplify]: Simplify (/ 1 1) into 1 2.568 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.568 * [taylor]: Taking taylor expansion of phi2 in phi1 2.568 * [backup-simplify]: Simplify phi2 into phi2 2.568 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.568 * [backup-simplify]: Simplify (+ 1 0) into 1 2.569 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.569 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.569 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 2.569 * [taylor]: Taking taylor expansion of phi1 in phi1 2.569 * [backup-simplify]: Simplify 0 into 0 2.569 * [backup-simplify]: Simplify 1 into 1 2.569 * [backup-simplify]: Simplify (* 1 1) into 1 2.569 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.569 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.570 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 2.570 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 2.570 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.571 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 2.571 * [taylor]: Taking taylor expansion of 0 in lambda1 2.571 * [backup-simplify]: Simplify 0 into 0 2.571 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (/ 0 lambda1)))) into 0 2.571 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) into 0 2.571 * [taylor]: Taking taylor expansion of 0 in phi1 2.571 * [backup-simplify]: Simplify 0 into 0 2.571 * [taylor]: Taking taylor expansion of 0 in phi1 2.571 * [backup-simplify]: Simplify 0 into 0 2.572 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 1) (* 0 0))) into 0 2.572 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 2.572 * [backup-simplify]: Simplify (- 0) into 0 2.572 * [taylor]: Taking taylor expansion of 0 in lambda1 2.572 * [backup-simplify]: Simplify 0 into 0 2.573 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2.573 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in lambda1 2.573 * [taylor]: Taking taylor expansion of -1 in lambda1 2.573 * [backup-simplify]: Simplify -1 into -1 2.573 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in lambda1 2.573 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 2.573 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 2.573 * [taylor]: Taking taylor expansion of -0.5 in lambda1 2.573 * [backup-simplify]: Simplify -0.5 into -0.5 2.573 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 2.573 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 2.573 * [taylor]: Taking taylor expansion of phi1 in lambda1 2.573 * [backup-simplify]: Simplify phi1 into phi1 2.573 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.573 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 2.573 * [taylor]: Taking taylor expansion of phi2 in lambda1 2.573 * [backup-simplify]: Simplify phi2 into phi2 2.573 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.573 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 2.573 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 2.573 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.573 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.573 * [taylor]: Taking taylor expansion of lambda1 in lambda1 2.573 * [backup-simplify]: Simplify 0 into 0 2.573 * [backup-simplify]: Simplify 1 into 1 2.573 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.574 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 2.574 * [backup-simplify]: Simplify (- 0) into 0 2.574 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.574 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.574 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.574 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 2.574 * [taylor]: Taking taylor expansion of 0 in lambda1 2.574 * [backup-simplify]: Simplify 0 into 0 2.574 * [taylor]: Taking taylor expansion of 0 in lambda1 2.574 * [backup-simplify]: Simplify 0 into 0 2.575 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.575 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 2.576 * [backup-simplify]: Simplify (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* 1 (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (/ 1 (- lambda2)))))) (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1)))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (pow (/ 1 (- lambda2)) 2))))))) into (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))) 2.576 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1 1) 2.576 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.576 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 2.576 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.576 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.576 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.576 * [backup-simplify]: Simplify 0.5 into 0.5 2.576 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.576 * [taylor]: Taking taylor expansion of phi2 in phi1 2.576 * [backup-simplify]: Simplify phi2 into phi2 2.576 * [taylor]: Taking taylor expansion of phi1 in phi1 2.576 * [backup-simplify]: Simplify 0 into 0 2.576 * [backup-simplify]: Simplify 1 into 1 2.577 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.577 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.577 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.577 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.577 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.577 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.577 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.577 * [backup-simplify]: Simplify 0.5 into 0.5 2.577 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.577 * [taylor]: Taking taylor expansion of phi2 in phi2 2.577 * [backup-simplify]: Simplify 0 into 0 2.577 * [backup-simplify]: Simplify 1 into 1 2.577 * [taylor]: Taking taylor expansion of phi1 in phi2 2.577 * [backup-simplify]: Simplify phi1 into phi1 2.577 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.577 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.577 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.577 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.577 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.577 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.577 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.577 * [backup-simplify]: Simplify 0.5 into 0.5 2.577 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.577 * [taylor]: Taking taylor expansion of phi2 in phi2 2.577 * [backup-simplify]: Simplify 0 into 0 2.577 * [backup-simplify]: Simplify 1 into 1 2.577 * [taylor]: Taking taylor expansion of phi1 in phi2 2.577 * [backup-simplify]: Simplify phi1 into phi1 2.577 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.577 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.577 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.577 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.577 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.577 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.578 * [backup-simplify]: Simplify (- 0) into 0 2.578 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.578 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.578 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.578 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.578 * [backup-simplify]: Simplify 0.5 into 0.5 2.578 * [taylor]: Taking taylor expansion of phi1 in phi1 2.578 * [backup-simplify]: Simplify 0 into 0 2.578 * [backup-simplify]: Simplify 1 into 1 2.578 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.579 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.579 * [backup-simplify]: Simplify 1 into 1 2.579 * [backup-simplify]: Simplify (+ 0) into 0 2.580 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.580 * [backup-simplify]: Simplify (+ 1 0) into 1 2.580 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.582 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.582 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.582 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.582 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 2.582 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 2.582 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.582 * [backup-simplify]: Simplify 0.5 into 0.5 2.582 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.582 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.582 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.582 * [backup-simplify]: Simplify 0.5 into 0.5 2.582 * [taylor]: Taking taylor expansion of phi1 in phi1 2.582 * [backup-simplify]: Simplify 0 into 0 2.582 * [backup-simplify]: Simplify 1 into 1 2.583 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.583 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.584 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.584 * [backup-simplify]: Simplify (- 0) into 0 2.584 * [backup-simplify]: Simplify 0 into 0 2.584 * [backup-simplify]: Simplify (+ 0) into 0 2.584 * [backup-simplify]: Simplify 0 into 0 2.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.587 * [backup-simplify]: Simplify (+ 0 0) into 0 2.587 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 2.588 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.588 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 2.589 * [backup-simplify]: Simplify (- 0) into 0 2.589 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.589 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 2.589 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 2.589 * [taylor]: Taking taylor expansion of 0.125 in phi1 2.589 * [backup-simplify]: Simplify 0.125 into 0.125 2.589 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.589 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.589 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.589 * [backup-simplify]: Simplify 0.5 into 0.5 2.589 * [taylor]: Taking taylor expansion of phi1 in phi1 2.589 * [backup-simplify]: Simplify 0 into 0 2.589 * [backup-simplify]: Simplify 1 into 1 2.589 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.590 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.590 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 2.590 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.591 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.593 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 2.593 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.593 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.594 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) 2.594 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.594 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 2.594 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.594 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.594 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.594 * [backup-simplify]: Simplify 0.5 into 0.5 2.594 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.594 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.594 * [taylor]: Taking taylor expansion of phi1 in phi1 2.594 * [backup-simplify]: Simplify 0 into 0 2.595 * [backup-simplify]: Simplify 1 into 1 2.595 * [backup-simplify]: Simplify (/ 1 1) into 1 2.595 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.595 * [taylor]: Taking taylor expansion of phi2 in phi1 2.595 * [backup-simplify]: Simplify phi2 into phi2 2.595 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.595 * [backup-simplify]: Simplify (+ 1 0) into 1 2.595 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.596 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.596 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.596 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.596 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.596 * [backup-simplify]: Simplify 0.5 into 0.5 2.596 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.596 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.596 * [taylor]: Taking taylor expansion of phi1 in phi2 2.596 * [backup-simplify]: Simplify phi1 into phi1 2.596 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.596 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.596 * [taylor]: Taking taylor expansion of phi2 in phi2 2.596 * [backup-simplify]: Simplify 0 into 0 2.596 * [backup-simplify]: Simplify 1 into 1 2.596 * [backup-simplify]: Simplify (/ 1 1) into 1 2.596 * [backup-simplify]: Simplify (+ 0 1) into 1 2.597 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.597 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.597 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.597 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.597 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.597 * [backup-simplify]: Simplify 0.5 into 0.5 2.597 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.597 * [taylor]: Taking taylor expansion of phi1 in phi2 2.597 * [backup-simplify]: Simplify phi1 into phi1 2.597 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.597 * [taylor]: Taking taylor expansion of phi2 in phi2 2.597 * [backup-simplify]: Simplify 0 into 0 2.597 * [backup-simplify]: Simplify 1 into 1 2.597 * [backup-simplify]: Simplify (/ 1 1) into 1 2.598 * [backup-simplify]: Simplify (+ 0 1) into 1 2.598 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.598 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.598 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.598 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.598 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.598 * [backup-simplify]: Simplify 0.5 into 0.5 2.598 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.598 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.598 * [taylor]: Taking taylor expansion of phi1 in phi1 2.598 * [backup-simplify]: Simplify 0 into 0 2.598 * [backup-simplify]: Simplify 1 into 1 2.598 * [backup-simplify]: Simplify (/ 1 1) into 1 2.598 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.598 * [taylor]: Taking taylor expansion of phi2 in phi1 2.598 * [backup-simplify]: Simplify phi2 into phi2 2.599 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.599 * [backup-simplify]: Simplify (+ 1 0) into 1 2.599 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.599 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.599 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.599 * [taylor]: Taking taylor expansion of 0 in phi1 2.599 * [backup-simplify]: Simplify 0 into 0 2.599 * [backup-simplify]: Simplify 0 into 0 2.599 * [backup-simplify]: Simplify 0 into 0 2.599 * [taylor]: Taking taylor expansion of 0 in phi1 2.599 * [backup-simplify]: Simplify 0 into 0 2.599 * [backup-simplify]: Simplify 0 into 0 2.600 * [backup-simplify]: Simplify 0 into 0 2.600 * [backup-simplify]: Simplify 0 into 0 2.600 * [taylor]: Taking taylor expansion of 0 in phi1 2.600 * [backup-simplify]: Simplify 0 into 0 2.600 * [backup-simplify]: Simplify 0 into 0 2.600 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 2.600 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.600 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 2.600 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.600 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.600 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.600 * [backup-simplify]: Simplify -0.5 into -0.5 2.600 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.600 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.600 * [taylor]: Taking taylor expansion of phi1 in phi1 2.600 * [backup-simplify]: Simplify 0 into 0 2.600 * [backup-simplify]: Simplify 1 into 1 2.600 * [backup-simplify]: Simplify (/ 1 1) into 1 2.600 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.600 * [taylor]: Taking taylor expansion of phi2 in phi1 2.600 * [backup-simplify]: Simplify phi2 into phi2 2.600 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.601 * [backup-simplify]: Simplify (+ 1 0) into 1 2.601 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.601 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.601 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.601 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.601 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.601 * [backup-simplify]: Simplify -0.5 into -0.5 2.601 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.601 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.601 * [taylor]: Taking taylor expansion of phi1 in phi2 2.601 * [backup-simplify]: Simplify phi1 into phi1 2.601 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.601 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.601 * [taylor]: Taking taylor expansion of phi2 in phi2 2.601 * [backup-simplify]: Simplify 0 into 0 2.601 * [backup-simplify]: Simplify 1 into 1 2.601 * [backup-simplify]: Simplify (/ 1 1) into 1 2.602 * [backup-simplify]: Simplify (+ 0 1) into 1 2.602 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.602 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.602 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.602 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.602 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.602 * [backup-simplify]: Simplify -0.5 into -0.5 2.602 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.602 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.602 * [taylor]: Taking taylor expansion of phi1 in phi2 2.602 * [backup-simplify]: Simplify phi1 into phi1 2.602 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.602 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.602 * [taylor]: Taking taylor expansion of phi2 in phi2 2.602 * [backup-simplify]: Simplify 0 into 0 2.602 * [backup-simplify]: Simplify 1 into 1 2.603 * [backup-simplify]: Simplify (/ 1 1) into 1 2.603 * [backup-simplify]: Simplify (+ 0 1) into 1 2.603 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.603 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.603 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.603 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.603 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.603 * [backup-simplify]: Simplify -0.5 into -0.5 2.603 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.603 * [taylor]: Taking taylor expansion of phi1 in phi1 2.603 * [backup-simplify]: Simplify 0 into 0 2.603 * [backup-simplify]: Simplify 1 into 1 2.604 * [backup-simplify]: Simplify (/ 1 1) into 1 2.604 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.604 * [taylor]: Taking taylor expansion of phi2 in phi1 2.604 * [backup-simplify]: Simplify phi2 into phi2 2.604 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.604 * [backup-simplify]: Simplify (+ 1 0) into 1 2.604 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.604 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.605 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.605 * [taylor]: Taking taylor expansion of 0 in phi1 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [taylor]: Taking taylor expansion of 0 in phi1 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [taylor]: Taking taylor expansion of 0 in phi1 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 2.605 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2 1 1) 2.605 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.605 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 2.605 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.605 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.605 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.605 * [backup-simplify]: Simplify 0.5 into 0.5 2.605 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.605 * [taylor]: Taking taylor expansion of phi2 in phi1 2.605 * [backup-simplify]: Simplify phi2 into phi2 2.605 * [taylor]: Taking taylor expansion of phi1 in phi1 2.605 * [backup-simplify]: Simplify 0 into 0 2.605 * [backup-simplify]: Simplify 1 into 1 2.605 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.605 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.605 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.605 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.605 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.605 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.606 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.606 * [backup-simplify]: Simplify 0.5 into 0.5 2.606 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.606 * [taylor]: Taking taylor expansion of phi2 in phi2 2.606 * [backup-simplify]: Simplify 0 into 0 2.606 * [backup-simplify]: Simplify 1 into 1 2.606 * [taylor]: Taking taylor expansion of phi1 in phi2 2.606 * [backup-simplify]: Simplify phi1 into phi1 2.606 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.606 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.606 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.606 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.606 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.606 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.606 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.606 * [backup-simplify]: Simplify 0.5 into 0.5 2.606 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.606 * [taylor]: Taking taylor expansion of phi2 in phi2 2.606 * [backup-simplify]: Simplify 0 into 0 2.606 * [backup-simplify]: Simplify 1 into 1 2.606 * [taylor]: Taking taylor expansion of phi1 in phi2 2.606 * [backup-simplify]: Simplify phi1 into phi1 2.606 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.606 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.606 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.606 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.606 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.606 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.606 * [backup-simplify]: Simplify (- 0) into 0 2.607 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.607 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.607 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.607 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.607 * [backup-simplify]: Simplify 0.5 into 0.5 2.607 * [taylor]: Taking taylor expansion of phi1 in phi1 2.607 * [backup-simplify]: Simplify 0 into 0 2.607 * [backup-simplify]: Simplify 1 into 1 2.607 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.608 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.608 * [backup-simplify]: Simplify 1 into 1 2.608 * [backup-simplify]: Simplify (+ 0) into 0 2.608 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.609 * [backup-simplify]: Simplify (+ 1 0) into 1 2.609 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.611 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.611 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.611 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.611 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 2.611 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 2.611 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.611 * [backup-simplify]: Simplify 0.5 into 0.5 2.611 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.611 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.611 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.611 * [backup-simplify]: Simplify 0.5 into 0.5 2.611 * [taylor]: Taking taylor expansion of phi1 in phi1 2.611 * [backup-simplify]: Simplify 0 into 0 2.611 * [backup-simplify]: Simplify 1 into 1 2.611 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.612 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.613 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.613 * [backup-simplify]: Simplify (- 0) into 0 2.613 * [backup-simplify]: Simplify 0 into 0 2.613 * [backup-simplify]: Simplify (+ 0) into 0 2.613 * [backup-simplify]: Simplify 0 into 0 2.620 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.621 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.621 * [backup-simplify]: Simplify (+ 0 0) into 0 2.622 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 2.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.623 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 2.623 * [backup-simplify]: Simplify (- 0) into 0 2.623 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.623 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 2.623 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 2.623 * [taylor]: Taking taylor expansion of 0.125 in phi1 2.623 * [backup-simplify]: Simplify 0.125 into 0.125 2.623 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.623 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.623 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.623 * [backup-simplify]: Simplify 0.5 into 0.5 2.623 * [taylor]: Taking taylor expansion of phi1 in phi1 2.623 * [backup-simplify]: Simplify 0 into 0 2.623 * [backup-simplify]: Simplify 1 into 1 2.624 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.625 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.625 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 2.625 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.625 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.628 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 2.628 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.628 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.629 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) 2.629 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.629 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 2.629 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.629 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.629 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.629 * [backup-simplify]: Simplify 0.5 into 0.5 2.629 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.629 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.629 * [taylor]: Taking taylor expansion of phi1 in phi1 2.629 * [backup-simplify]: Simplify 0 into 0 2.629 * [backup-simplify]: Simplify 1 into 1 2.629 * [backup-simplify]: Simplify (/ 1 1) into 1 2.629 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.629 * [taylor]: Taking taylor expansion of phi2 in phi1 2.629 * [backup-simplify]: Simplify phi2 into phi2 2.629 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.630 * [backup-simplify]: Simplify (+ 1 0) into 1 2.630 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.630 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.630 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.630 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.630 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.630 * [backup-simplify]: Simplify 0.5 into 0.5 2.630 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.630 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.630 * [taylor]: Taking taylor expansion of phi1 in phi2 2.630 * [backup-simplify]: Simplify phi1 into phi1 2.630 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.630 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.630 * [taylor]: Taking taylor expansion of phi2 in phi2 2.630 * [backup-simplify]: Simplify 0 into 0 2.630 * [backup-simplify]: Simplify 1 into 1 2.631 * [backup-simplify]: Simplify (/ 1 1) into 1 2.631 * [backup-simplify]: Simplify (+ 0 1) into 1 2.631 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.631 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.631 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.631 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.631 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.631 * [backup-simplify]: Simplify 0.5 into 0.5 2.631 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.631 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.631 * [taylor]: Taking taylor expansion of phi1 in phi2 2.631 * [backup-simplify]: Simplify phi1 into phi1 2.631 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.631 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.631 * [taylor]: Taking taylor expansion of phi2 in phi2 2.631 * [backup-simplify]: Simplify 0 into 0 2.631 * [backup-simplify]: Simplify 1 into 1 2.632 * [backup-simplify]: Simplify (/ 1 1) into 1 2.632 * [backup-simplify]: Simplify (+ 0 1) into 1 2.632 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.632 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.632 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.632 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.632 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.632 * [backup-simplify]: Simplify 0.5 into 0.5 2.632 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.632 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.633 * [taylor]: Taking taylor expansion of phi1 in phi1 2.633 * [backup-simplify]: Simplify 0 into 0 2.633 * [backup-simplify]: Simplify 1 into 1 2.633 * [backup-simplify]: Simplify (/ 1 1) into 1 2.633 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.633 * [taylor]: Taking taylor expansion of phi2 in phi1 2.633 * [backup-simplify]: Simplify phi2 into phi2 2.633 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.633 * [backup-simplify]: Simplify (+ 1 0) into 1 2.633 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.634 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.634 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.634 * [taylor]: Taking taylor expansion of 0 in phi1 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [taylor]: Taking taylor expansion of 0 in phi1 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [taylor]: Taking taylor expansion of 0 in phi1 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 2.634 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.634 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 2.634 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.634 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.634 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.634 * [backup-simplify]: Simplify -0.5 into -0.5 2.634 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.634 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.634 * [taylor]: Taking taylor expansion of phi1 in phi1 2.634 * [backup-simplify]: Simplify 0 into 0 2.634 * [backup-simplify]: Simplify 1 into 1 2.635 * [backup-simplify]: Simplify (/ 1 1) into 1 2.635 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.635 * [taylor]: Taking taylor expansion of phi2 in phi1 2.635 * [backup-simplify]: Simplify phi2 into phi2 2.635 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.635 * [backup-simplify]: Simplify (+ 1 0) into 1 2.635 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.635 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.635 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.635 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.635 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.635 * [backup-simplify]: Simplify -0.5 into -0.5 2.635 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.635 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.635 * [taylor]: Taking taylor expansion of phi1 in phi2 2.636 * [backup-simplify]: Simplify phi1 into phi1 2.636 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.636 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.636 * [taylor]: Taking taylor expansion of phi2 in phi2 2.636 * [backup-simplify]: Simplify 0 into 0 2.636 * [backup-simplify]: Simplify 1 into 1 2.636 * [backup-simplify]: Simplify (/ 1 1) into 1 2.636 * [backup-simplify]: Simplify (+ 0 1) into 1 2.636 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.636 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.636 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.637 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.637 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.637 * [backup-simplify]: Simplify -0.5 into -0.5 2.637 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.637 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.637 * [taylor]: Taking taylor expansion of phi1 in phi2 2.637 * [backup-simplify]: Simplify phi1 into phi1 2.637 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.637 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.637 * [taylor]: Taking taylor expansion of phi2 in phi2 2.637 * [backup-simplify]: Simplify 0 into 0 2.637 * [backup-simplify]: Simplify 1 into 1 2.637 * [backup-simplify]: Simplify (/ 1 1) into 1 2.637 * [backup-simplify]: Simplify (+ 0 1) into 1 2.637 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.638 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.638 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.638 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.638 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.638 * [backup-simplify]: Simplify -0.5 into -0.5 2.638 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.638 * [taylor]: Taking taylor expansion of phi1 in phi1 2.638 * [backup-simplify]: Simplify 0 into 0 2.638 * [backup-simplify]: Simplify 1 into 1 2.638 * [backup-simplify]: Simplify (/ 1 1) into 1 2.638 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.638 * [taylor]: Taking taylor expansion of phi2 in phi1 2.638 * [backup-simplify]: Simplify phi2 into phi2 2.638 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.638 * [backup-simplify]: Simplify (+ 1 0) into 1 2.639 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.639 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.639 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.639 * [taylor]: Taking taylor expansion of 0 in phi1 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [taylor]: Taking taylor expansion of 0 in phi1 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [taylor]: Taking taylor expansion of 0 in phi1 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify 0 into 0 2.639 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 2.639 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 1 1 2 1) 2.639 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 2.640 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 2.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 2.640 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 2.640 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.640 * [backup-simplify]: Simplify 0.5 into 0.5 2.640 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 2.640 * [taylor]: Taking taylor expansion of phi2 in phi1 2.640 * [backup-simplify]: Simplify phi2 into phi2 2.640 * [taylor]: Taking taylor expansion of phi1 in phi1 2.640 * [backup-simplify]: Simplify 0 into 0 2.640 * [backup-simplify]: Simplify 1 into 1 2.640 * [backup-simplify]: Simplify (+ phi2 0) into phi2 2.640 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 2.640 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 2.640 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 2.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.640 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.640 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.640 * [backup-simplify]: Simplify 0.5 into 0.5 2.640 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.640 * [taylor]: Taking taylor expansion of phi2 in phi2 2.640 * [backup-simplify]: Simplify 0 into 0 2.640 * [backup-simplify]: Simplify 1 into 1 2.640 * [taylor]: Taking taylor expansion of phi1 in phi2 2.640 * [backup-simplify]: Simplify phi1 into phi1 2.640 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.640 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.640 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.640 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 2.640 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 2.640 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.640 * [backup-simplify]: Simplify 0.5 into 0.5 2.640 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 2.640 * [taylor]: Taking taylor expansion of phi2 in phi2 2.640 * [backup-simplify]: Simplify 0 into 0 2.640 * [backup-simplify]: Simplify 1 into 1 2.640 * [taylor]: Taking taylor expansion of phi1 in phi2 2.640 * [backup-simplify]: Simplify phi1 into phi1 2.640 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 2.640 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 2.640 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 2.640 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 2.641 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 2.641 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 2.641 * [backup-simplify]: Simplify (- 0) into 0 2.641 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 2.641 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.641 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.641 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.641 * [backup-simplify]: Simplify 0.5 into 0.5 2.641 * [taylor]: Taking taylor expansion of phi1 in phi1 2.641 * [backup-simplify]: Simplify 0 into 0 2.641 * [backup-simplify]: Simplify 1 into 1 2.641 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.642 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.642 * [backup-simplify]: Simplify 1 into 1 2.643 * [backup-simplify]: Simplify (+ 0) into 0 2.643 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 2.643 * [backup-simplify]: Simplify (+ 1 0) into 1 2.643 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 2.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.646 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 2.646 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.646 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 2.646 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 2.646 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 2.646 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.646 * [backup-simplify]: Simplify 0.5 into 0.5 2.646 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 2.646 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.646 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.646 * [backup-simplify]: Simplify 0.5 into 0.5 2.646 * [taylor]: Taking taylor expansion of phi1 in phi1 2.646 * [backup-simplify]: Simplify 0 into 0 2.646 * [backup-simplify]: Simplify 1 into 1 2.646 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.647 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.648 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.648 * [backup-simplify]: Simplify (- 0) into 0 2.648 * [backup-simplify]: Simplify 0 into 0 2.648 * [backup-simplify]: Simplify (+ 0) into 0 2.648 * [backup-simplify]: Simplify 0 into 0 2.650 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 2.650 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.651 * [backup-simplify]: Simplify (+ 0 0) into 0 2.651 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 2.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 2.652 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 2.652 * [backup-simplify]: Simplify (- 0) into 0 2.652 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 2.652 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 2.652 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 2.652 * [taylor]: Taking taylor expansion of 0.125 in phi1 2.652 * [backup-simplify]: Simplify 0.125 into 0.125 2.652 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 2.653 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 2.653 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.653 * [backup-simplify]: Simplify 0.5 into 0.5 2.653 * [taylor]: Taking taylor expansion of phi1 in phi1 2.653 * [backup-simplify]: Simplify 0 into 0 2.653 * [backup-simplify]: Simplify 1 into 1 2.653 * [backup-simplify]: Simplify (* 0.5 0) into 0 2.654 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 2.654 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 2.654 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.654 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 2.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 2.657 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 2.657 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.657 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 2.658 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) 2.658 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.658 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 2.658 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.658 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.658 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.658 * [backup-simplify]: Simplify 0.5 into 0.5 2.658 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.658 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.658 * [taylor]: Taking taylor expansion of phi1 in phi1 2.658 * [backup-simplify]: Simplify 0 into 0 2.658 * [backup-simplify]: Simplify 1 into 1 2.658 * [backup-simplify]: Simplify (/ 1 1) into 1 2.658 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.658 * [taylor]: Taking taylor expansion of phi2 in phi1 2.659 * [backup-simplify]: Simplify phi2 into phi2 2.659 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.659 * [backup-simplify]: Simplify (+ 1 0) into 1 2.659 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.659 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.659 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.659 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.659 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.659 * [backup-simplify]: Simplify 0.5 into 0.5 2.659 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.659 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.659 * [taylor]: Taking taylor expansion of phi1 in phi2 2.659 * [backup-simplify]: Simplify phi1 into phi1 2.659 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.659 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.659 * [taylor]: Taking taylor expansion of phi2 in phi2 2.659 * [backup-simplify]: Simplify 0 into 0 2.659 * [backup-simplify]: Simplify 1 into 1 2.660 * [backup-simplify]: Simplify (/ 1 1) into 1 2.660 * [backup-simplify]: Simplify (+ 0 1) into 1 2.660 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.660 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.660 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.660 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.660 * [taylor]: Taking taylor expansion of 0.5 in phi2 2.660 * [backup-simplify]: Simplify 0.5 into 0.5 2.660 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.660 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.660 * [taylor]: Taking taylor expansion of phi1 in phi2 2.660 * [backup-simplify]: Simplify phi1 into phi1 2.661 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.661 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.661 * [taylor]: Taking taylor expansion of phi2 in phi2 2.661 * [backup-simplify]: Simplify 0 into 0 2.661 * [backup-simplify]: Simplify 1 into 1 2.661 * [backup-simplify]: Simplify (/ 1 1) into 1 2.661 * [backup-simplify]: Simplify (+ 0 1) into 1 2.661 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.661 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.662 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.662 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.662 * [taylor]: Taking taylor expansion of 0.5 in phi1 2.662 * [backup-simplify]: Simplify 0.5 into 0.5 2.662 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.662 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.662 * [taylor]: Taking taylor expansion of phi1 in phi1 2.662 * [backup-simplify]: Simplify 0 into 0 2.662 * [backup-simplify]: Simplify 1 into 1 2.662 * [backup-simplify]: Simplify (/ 1 1) into 1 2.662 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.662 * [taylor]: Taking taylor expansion of phi2 in phi1 2.662 * [backup-simplify]: Simplify phi2 into phi2 2.662 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.662 * [backup-simplify]: Simplify (+ 1 0) into 1 2.663 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 2.663 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.663 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.663 * [taylor]: Taking taylor expansion of 0 in phi1 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [taylor]: Taking taylor expansion of 0 in phi1 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [taylor]: Taking taylor expansion of 0 in phi1 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 2.663 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.663 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 2.663 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.663 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.663 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.663 * [backup-simplify]: Simplify -0.5 into -0.5 2.663 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.663 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.663 * [taylor]: Taking taylor expansion of phi1 in phi1 2.663 * [backup-simplify]: Simplify 0 into 0 2.663 * [backup-simplify]: Simplify 1 into 1 2.664 * [backup-simplify]: Simplify (/ 1 1) into 1 2.664 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.664 * [taylor]: Taking taylor expansion of phi2 in phi1 2.664 * [backup-simplify]: Simplify phi2 into phi2 2.664 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.664 * [backup-simplify]: Simplify (+ 1 0) into 1 2.664 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.664 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.664 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.664 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.665 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.665 * [backup-simplify]: Simplify -0.5 into -0.5 2.665 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.665 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.665 * [taylor]: Taking taylor expansion of phi1 in phi2 2.665 * [backup-simplify]: Simplify phi1 into phi1 2.665 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.665 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.665 * [taylor]: Taking taylor expansion of phi2 in phi2 2.665 * [backup-simplify]: Simplify 0 into 0 2.665 * [backup-simplify]: Simplify 1 into 1 2.665 * [backup-simplify]: Simplify (/ 1 1) into 1 2.665 * [backup-simplify]: Simplify (+ 0 1) into 1 2.665 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.666 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.666 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 2.666 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 2.666 * [taylor]: Taking taylor expansion of -0.5 in phi2 2.666 * [backup-simplify]: Simplify -0.5 into -0.5 2.666 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 2.666 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 2.666 * [taylor]: Taking taylor expansion of phi1 in phi2 2.666 * [backup-simplify]: Simplify phi1 into phi1 2.666 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 2.666 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 2.666 * [taylor]: Taking taylor expansion of phi2 in phi2 2.666 * [backup-simplify]: Simplify 0 into 0 2.666 * [backup-simplify]: Simplify 1 into 1 2.666 * [backup-simplify]: Simplify (/ 1 1) into 1 2.666 * [backup-simplify]: Simplify (+ 0 1) into 1 2.667 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.667 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.667 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 2.667 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 2.667 * [taylor]: Taking taylor expansion of -0.5 in phi1 2.667 * [backup-simplify]: Simplify -0.5 into -0.5 2.667 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 2.667 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 2.667 * [taylor]: Taking taylor expansion of phi1 in phi1 2.667 * [backup-simplify]: Simplify 0 into 0 2.667 * [backup-simplify]: Simplify 1 into 1 2.667 * [backup-simplify]: Simplify (/ 1 1) into 1 2.667 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 2.667 * [taylor]: Taking taylor expansion of phi2 in phi1 2.667 * [backup-simplify]: Simplify phi2 into phi2 2.667 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 2.668 * [backup-simplify]: Simplify (+ 1 0) into 1 2.668 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 2.668 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.668 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2.668 * [taylor]: Taking taylor expansion of 0 in phi1 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [taylor]: Taking taylor expansion of 0 in phi1 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [taylor]: Taking taylor expansion of 0 in phi1 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [backup-simplify]: Simplify 0 into 0 2.668 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 2.668 * * * [progress]: simplifying candidates 2.670 * [simplify]: Simplifying: (log (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt 1) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))) (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2)))) (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 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(+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1))))) (cbrt (cos (* 0.5 (+ phi2 phi1)))) (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (log (cos (* 0.5 (+ phi2 phi1)))) (exp (cos (* 0.5 (+ phi2 phi1)))) (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1))))) (cbrt (cos (* 0.5 (+ phi2 phi1)))) (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (log (cos (* 0.5 (+ phi2 phi1)))) (exp (cos (* 0.5 (+ phi2 phi1)))) (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1))))) (cbrt (cos (* 0.5 (+ phi2 phi1)))) (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (sqrt (cos (* 0.5 (+ phi2 phi1)))) (- lambda1 lambda2) (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))) (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) 2.672 * [simplify]: Sending expressions to egg_math: (log (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (exp (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (* (cbrt (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (cbrt (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))))) (cbrt (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (* (* (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (* (cbrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (cbrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))))) (sqrt (cbrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt 1) (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (sqrt (+ (* (- (pow (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) 3) (pow (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) 3)) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (* (+ (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (- (pow h1 3) (pow h0 3)) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))))) (sqrt (+ (* (- (pow (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) 3) (pow (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) 3)) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ h1 h0))) (* (+ (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (- (pow h1 3) (pow h0 3)) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* 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(* (+ (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (sqrt (+ (* (- (pow (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) 3) (pow (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) 3)) (+ h1 h0)) (* (+ (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (- (* h1 h1) (* h0 h0)) (- h1 h0))))) (sqrt (* (+ (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (+ h1 h0))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- (pow h1 3) (pow h0 3)) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ h1 h0))) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- (pow h1 3) (pow h0 3)) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ h1 h0)))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (+ h1 h0) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- (* h1 h1) (* h0 h0)) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ h1 h0) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (+ h1 h0) (+ h1 h0))) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- (* h1 h1) (* h0 h0)) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ h1 h0) (+ h1 h0)))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (+ h1 h0)) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (+ h1 h0))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- (pow h1 3) (pow h0 3)) (- h1 h0))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (sqrt (+ (* (- (* (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (+ h1 h0)) (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- (* h1 h1) (* h0 h0)) (- h1 h0))))) (sqrt (* (+ (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (+ h1 h0))) (sqrt (+ (pow (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) 3) (pow (* (- h1 h0) (- h1 h0)) 3))) (sqrt (+ (* (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (- (* (* (- h1 h0) (- h1 h0)) (* (- h1 h0) (- h1 h0))) (* (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))))) (sqrt (- (* (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (* (- h1 h0) (- h1 h0)) (* (- h1 h0) (- h1 h0))))) (sqrt (- (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (/ 1 2) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (cos (* h3 (+ h0 h1))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (* (cos (* h3 h0)) (cos (* h3 h1))) (* (sin (* h3 h0)) (sin (* h3 h1))) (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3))) (log (cos (* h3 (+ h0 h1)))) (exp (cos (* h3 (+ h0 h1)))) (* (cbrt (cos (* h3 (+ h0 h1)))) (cbrt (cos (* h3 (+ h0 h1))))) (cbrt (cos (* h3 (+ h0 h1)))) (* (* (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1)))) (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (* (cos (* h3 h0)) (cos (* h3 h1))) (* (sin (* h3 h0)) (sin (* h3 h1))) (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3))) (log (cos (* h3 (+ h0 h1)))) (exp (cos (* h3 (+ h0 h1)))) (* (cbrt (cos (* h3 (+ h0 h1)))) (cbrt (cos (* h3 (+ h0 h1))))) (cbrt (cos (* h3 (+ h0 h1)))) (* (* (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1)))) (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (* (cos (* h3 h0)) (cos (* h3 h1))) (* (sin (* h3 h0)) (sin (* h3 h1))) (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3))) (log (cos (* h3 (+ h0 h1)))) (exp (cos (* h3 (+ h0 h1)))) (* (cbrt (cos (* h3 (+ h0 h1)))) (cbrt (cos (* h3 (+ h0 h1))))) (cbrt (cos (* h3 (+ h0 h1)))) (* (* (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1)))) (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (- h2 h4) (- (+ (/ (* h0 h1) (* h4 (cos (* h3 (+ h0 h1))))) (+ (* (cos (* h3 (+ h0 h1))) h2) (/ (* h0 (* h2 h1)) (* (pow h4 2) (cos (* h3 (+ h0 h1)))))))) (+ (/ (* h0 h1) (* h4 (cos (* h3 (+ h0 h1))))) (+ (* (cos (* h3 (+ h0 h1))) h2) (/ (* h0 (* h2 h1)) (* (pow h4 2) (cos (* h3 (+ h0 h1))))))) (- 1 (+ (* h6 (* h0 h1)) (* h5 (pow h0 2)))) (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1))) (- 1 (+ (* h6 (* h0 h1)) (* h5 (pow h0 2)))) (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1))) (- 1 (+ (* h6 (* h0 h1)) (* h5 (pow h0 2)))) (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1))) 2.756 * * * [progress]: adding candidates to table 3.176 * * [progress]: iteration 3 / 4 3.176 * * * [progress]: picking best candidate 3.217 * * * * [pick]: Picked # 3.217 * * * [progress]: localizing error 3.271 * * * [progress]: generating rewritten candidates 3.271 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 3.980 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1 1) 3.991 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2 1 1) 4.001 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 4.404 * * * [progress]: generating series expansions 4.404 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 4.406 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) 4.406 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in (lambda2 phi2 phi1 lambda1) around 0 4.406 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda1 4.407 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 4.407 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in lambda1 4.407 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 4.407 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.407 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.407 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.407 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.407 * [backup-simplify]: Simplify 0.5 into 0.5 4.407 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.407 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.407 * [backup-simplify]: Simplify phi2 into phi2 4.407 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.407 * [backup-simplify]: Simplify phi1 into phi1 4.407 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.407 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.407 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.407 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.407 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.407 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.408 * [backup-simplify]: Simplify (- 0) into 0 4.408 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.408 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.408 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.408 * [backup-simplify]: Simplify 0 into 0 4.408 * [backup-simplify]: Simplify 1 into 1 4.408 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda1 4.408 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.408 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.408 * [backup-simplify]: Simplify phi2 into phi2 4.408 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda1 4.408 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 4.408 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 4.408 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 4.408 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 4.408 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.408 * [backup-simplify]: Simplify 0.5 into 0.5 4.408 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.408 * [backup-simplify]: Simplify phi2 into phi2 4.408 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.408 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.408 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.408 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.409 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.409 * [backup-simplify]: Simplify (- 0) into 0 4.409 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.409 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 4.409 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 4.409 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 4.409 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 4.409 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.409 * [backup-simplify]: Simplify 0.5 into 0.5 4.409 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.409 * [backup-simplify]: Simplify phi1 into phi1 4.409 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.409 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.409 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.409 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.409 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.410 * [backup-simplify]: Simplify (- 0) into 0 4.410 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.410 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.410 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.410 * [backup-simplify]: Simplify lambda2 into lambda2 4.410 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda1 4.410 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.410 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.410 * [backup-simplify]: Simplify phi1 into phi1 4.410 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 4.410 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 4.410 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 4.410 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 4.410 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.410 * [backup-simplify]: Simplify 0.5 into 0.5 4.410 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.410 * [backup-simplify]: Simplify phi2 into phi2 4.410 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.410 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.410 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.410 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 4.410 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.410 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 4.410 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 4.410 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.410 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.410 * [backup-simplify]: Simplify lambda2 into lambda2 4.410 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 4.410 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 4.410 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 4.410 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.411 * [backup-simplify]: Simplify 0.5 into 0.5 4.411 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.411 * [backup-simplify]: Simplify phi1 into phi1 4.411 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.411 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.411 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.411 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.411 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.411 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.411 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 4.411 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda1 4.411 * [taylor]: Taking taylor expansion of 2 in lambda1 4.411 * [backup-simplify]: Simplify 2 into 2 4.411 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1 4.411 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 4.411 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 4.411 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.411 * [backup-simplify]: Simplify 0.5 into 0.5 4.411 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.411 * [backup-simplify]: Simplify phi2 into phi2 4.411 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.411 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.411 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.411 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 4.411 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 4.411 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 4.411 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.411 * [backup-simplify]: Simplify 0.5 into 0.5 4.411 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.411 * [backup-simplify]: Simplify phi2 into phi2 4.411 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.411 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.411 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.411 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 4.411 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 4.411 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 4.412 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.412 * [backup-simplify]: Simplify 0.5 into 0.5 4.412 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.412 * [backup-simplify]: Simplify phi1 into phi1 4.412 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.412 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.412 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.412 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 4.412 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 4.412 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 4.412 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.412 * [backup-simplify]: Simplify 0.5 into 0.5 4.412 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.412 * [backup-simplify]: Simplify phi1 into phi1 4.412 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.412 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.412 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.412 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.412 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.412 * [backup-simplify]: Simplify lambda2 into lambda2 4.412 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 4.412 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 4.412 * [taylor]: Taking taylor expansion of 2 in lambda1 4.412 * [backup-simplify]: Simplify 2 into 2 4.412 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.412 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.412 * [backup-simplify]: Simplify phi2 into phi2 4.412 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.412 * [backup-simplify]: Simplify phi1 into phi1 4.412 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 4.412 * [taylor]: Taking taylor expansion of 2 in lambda1 4.412 * [backup-simplify]: Simplify 2 into 2 4.412 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 4.412 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.412 * [backup-simplify]: Simplify lambda2 into lambda2 4.412 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 4.412 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 4.412 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.412 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.412 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.412 * [backup-simplify]: Simplify 0.5 into 0.5 4.412 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.412 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.412 * [backup-simplify]: Simplify phi2 into phi2 4.412 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.412 * [backup-simplify]: Simplify phi1 into phi1 4.412 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.412 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.413 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.413 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.413 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.413 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.413 * [backup-simplify]: Simplify (- 0) into 0 4.413 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.413 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.413 * [backup-simplify]: Simplify 0 into 0 4.413 * [backup-simplify]: Simplify 1 into 1 4.413 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.413 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.414 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.414 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.414 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 4.414 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) 4.414 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.414 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 4.414 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.414 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 4.414 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 4.415 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) 4.415 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (pow phi1 2)) 4.416 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) 4.417 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) 4.418 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (pow phi1 2)))) 4.418 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.418 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.418 * [backup-simplify]: Simplify (- 0) into 0 4.418 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.418 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 4.419 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.419 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 4.419 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.419 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.419 * [backup-simplify]: Simplify (- 0) into 0 4.419 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.419 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.419 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.419 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.419 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.420 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 4.420 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) 4.420 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1))))) 4.421 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1)))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 4.421 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 4.421 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.421 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.421 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.421 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 4.421 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.422 * [backup-simplify]: Simplify (* 2 0) into 0 4.422 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.422 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))) into (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))) 4.423 * [backup-simplify]: Simplify (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) into (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) 4.425 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) 4.426 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) 4.426 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.426 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.427 * [backup-simplify]: Simplify (+ 0) into 0 4.427 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.427 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 4.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.428 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 4.428 * [backup-simplify]: Simplify (- 0) into 0 4.429 * [backup-simplify]: Simplify (+ 0 0) into 0 4.429 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 4.429 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 4.429 * [backup-simplify]: Simplify (+ 0) into 0 4.430 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.430 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 4.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.431 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 4.431 * [backup-simplify]: Simplify (- 0) into 0 4.431 * [backup-simplify]: Simplify (+ 0 0) into 0 4.431 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 4.432 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 4.432 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.432 * [backup-simplify]: Simplify (+ 0) into 0 4.432 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 4.432 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 4.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.433 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 4.433 * [backup-simplify]: Simplify (+ 0 0) into 0 4.434 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 4.434 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.434 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 4.434 * [backup-simplify]: Simplify (+ 0) into 0 4.434 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 4.435 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 4.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.436 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 4.436 * [backup-simplify]: Simplify (+ 0 0) into 0 4.436 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 4.436 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 4.436 * [backup-simplify]: Simplify (+ 0 0) into 0 4.437 * [backup-simplify]: Simplify (+ 0 0) into 0 4.437 * [backup-simplify]: Simplify (+ 0 0) into 0 4.437 * [backup-simplify]: Simplify (+ 0 0) into 0 4.437 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.437 * [backup-simplify]: Simplify (+ 0) into 0 4.438 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 4.438 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 4.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.439 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 4.439 * [backup-simplify]: Simplify (+ 0 0) into 0 4.439 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 4.439 * [backup-simplify]: Simplify (+ 0) into 0 4.440 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.440 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 4.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.441 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 4.441 * [backup-simplify]: Simplify (- 0) into 0 4.441 * [backup-simplify]: Simplify (+ 0 0) into 0 4.441 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 4.442 * [backup-simplify]: Simplify (+ 0) into 0 4.442 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 4.442 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 4.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.443 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 4.443 * [backup-simplify]: Simplify (+ 0 0) into 0 4.444 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 4.444 * [backup-simplify]: Simplify (+ 0) into 0 4.444 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.444 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 4.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.445 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 4.446 * [backup-simplify]: Simplify (- 0) into 0 4.446 * [backup-simplify]: Simplify (+ 0 0) into 0 4.446 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1))))))) into 0 4.447 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into 0 4.447 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.447 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.447 * [backup-simplify]: Simplify (+ 0) into 0 4.448 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.448 * [backup-simplify]: Simplify (+ 0 0) into 0 4.448 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.449 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.449 * [backup-simplify]: Simplify (- 0) into 0 4.450 * [backup-simplify]: Simplify (+ 0 0) into 0 4.450 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.450 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.450 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.454 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.455 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.455 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 4.455 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.455 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.457 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.457 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi1 4.457 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 4.457 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in phi1 4.457 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 4.457 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.457 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.457 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.457 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.457 * [backup-simplify]: Simplify 0.5 into 0.5 4.457 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.457 * [taylor]: Taking taylor expansion of phi2 in phi1 4.457 * [backup-simplify]: Simplify phi2 into phi2 4.457 * [taylor]: Taking taylor expansion of phi1 in phi1 4.457 * [backup-simplify]: Simplify 0 into 0 4.457 * [backup-simplify]: Simplify 1 into 1 4.458 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.458 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.458 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.458 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.458 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.458 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.458 * [backup-simplify]: Simplify (- 0) into 0 4.458 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.458 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.458 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.458 * [backup-simplify]: Simplify lambda1 into lambda1 4.458 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in phi1 4.458 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.458 * [taylor]: Taking taylor expansion of phi2 in phi1 4.458 * [backup-simplify]: Simplify phi2 into phi2 4.458 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi1 4.458 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 4.459 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 4.459 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 4.459 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 4.459 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.459 * [backup-simplify]: Simplify 0.5 into 0.5 4.459 * [taylor]: Taking taylor expansion of phi2 in phi1 4.459 * [backup-simplify]: Simplify phi2 into phi2 4.459 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.459 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.459 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.459 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.459 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.459 * [backup-simplify]: Simplify (- 0) into 0 4.459 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.459 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 4.459 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.459 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.459 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.459 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.459 * [backup-simplify]: Simplify 0.5 into 0.5 4.459 * [taylor]: Taking taylor expansion of phi1 in phi1 4.459 * [backup-simplify]: Simplify 0 into 0 4.459 * [backup-simplify]: Simplify 1 into 1 4.460 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.461 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.461 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.461 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.461 * [backup-simplify]: Simplify lambda2 into lambda2 4.461 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi1 4.461 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.461 * [taylor]: Taking taylor expansion of phi1 in phi1 4.461 * [backup-simplify]: Simplify 0 into 0 4.461 * [backup-simplify]: Simplify 1 into 1 4.461 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 4.461 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 4.461 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 4.461 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 4.461 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.461 * [backup-simplify]: Simplify 0.5 into 0.5 4.461 * [taylor]: Taking taylor expansion of phi2 in phi1 4.461 * [backup-simplify]: Simplify phi2 into phi2 4.461 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.461 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.461 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.461 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 4.461 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.461 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 4.461 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 4.461 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.461 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.461 * [backup-simplify]: Simplify lambda2 into lambda2 4.461 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 4.461 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.461 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.461 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.461 * [backup-simplify]: Simplify 0.5 into 0.5 4.461 * [taylor]: Taking taylor expansion of phi1 in phi1 4.461 * [backup-simplify]: Simplify 0 into 0 4.461 * [backup-simplify]: Simplify 1 into 1 4.462 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.463 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.464 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 4.464 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi1 4.465 * [taylor]: Taking taylor expansion of 2 in phi1 4.465 * [backup-simplify]: Simplify 2 into 2 4.465 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1 4.465 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 4.465 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 4.465 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.465 * [backup-simplify]: Simplify 0.5 into 0.5 4.465 * [taylor]: Taking taylor expansion of phi2 in phi1 4.465 * [backup-simplify]: Simplify phi2 into phi2 4.465 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.465 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.465 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.465 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 4.465 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 4.465 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 4.465 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.465 * [backup-simplify]: Simplify 0.5 into 0.5 4.465 * [taylor]: Taking taylor expansion of phi2 in phi1 4.465 * [backup-simplify]: Simplify phi2 into phi2 4.465 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.465 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.465 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.465 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 4.465 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.465 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.465 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.465 * [backup-simplify]: Simplify 0.5 into 0.5 4.465 * [taylor]: Taking taylor expansion of phi1 in phi1 4.465 * [backup-simplify]: Simplify 0 into 0 4.465 * [backup-simplify]: Simplify 1 into 1 4.465 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.466 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.466 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 4.466 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.466 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.466 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.466 * [backup-simplify]: Simplify 0.5 into 0.5 4.466 * [taylor]: Taking taylor expansion of phi1 in phi1 4.466 * [backup-simplify]: Simplify 0 into 0 4.467 * [backup-simplify]: Simplify 1 into 1 4.467 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.468 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.468 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.468 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.468 * [backup-simplify]: Simplify lambda2 into lambda2 4.468 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 4.468 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.468 * [taylor]: Taking taylor expansion of 2 in phi1 4.468 * [backup-simplify]: Simplify 2 into 2 4.468 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.468 * [taylor]: Taking taylor expansion of phi2 in phi1 4.468 * [backup-simplify]: Simplify phi2 into phi2 4.468 * [taylor]: Taking taylor expansion of phi1 in phi1 4.468 * [backup-simplify]: Simplify 0 into 0 4.468 * [backup-simplify]: Simplify 1 into 1 4.468 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 4.468 * [taylor]: Taking taylor expansion of 2 in phi1 4.468 * [backup-simplify]: Simplify 2 into 2 4.468 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 4.468 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.468 * [backup-simplify]: Simplify lambda2 into lambda2 4.468 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 4.468 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 4.468 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.468 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.468 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.468 * [backup-simplify]: Simplify 0.5 into 0.5 4.468 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.468 * [taylor]: Taking taylor expansion of phi2 in phi1 4.468 * [backup-simplify]: Simplify phi2 into phi2 4.468 * [taylor]: Taking taylor expansion of phi1 in phi1 4.468 * [backup-simplify]: Simplify 0 into 0 4.468 * [backup-simplify]: Simplify 1 into 1 4.468 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.468 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.468 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.468 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.468 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.468 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.469 * [backup-simplify]: Simplify (- 0) into 0 4.469 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.469 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.469 * [backup-simplify]: Simplify lambda1 into lambda1 4.469 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.469 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.469 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 4.469 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.469 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.469 * [backup-simplify]: Simplify (* 1 1) into 1 4.470 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.470 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 4.470 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 4.470 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 4.470 * [backup-simplify]: Simplify (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)) 4.471 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 4.471 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.471 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.471 * [backup-simplify]: Simplify (- 0) into 0 4.471 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.471 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 4.471 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.472 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 4.472 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.472 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 4.472 * [backup-simplify]: Simplify (* 1 0) into 0 4.472 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.472 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.472 * [backup-simplify]: Simplify (* 2 0) into 0 4.472 * [backup-simplify]: Simplify (* phi2 0) into 0 4.473 * [backup-simplify]: Simplify (* 2 0) into 0 4.473 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.473 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 4.473 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 4.473 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.473 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.474 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 4.474 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.474 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.475 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) 4.475 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.476 * [backup-simplify]: Simplify (+ 0) into 0 4.476 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.476 * [backup-simplify]: Simplify (+ 0 1) into 1 4.476 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.478 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.478 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.478 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.479 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.479 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.479 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.479 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.479 * [backup-simplify]: Simplify (+ 0) into 0 4.480 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.480 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 4.480 * [backup-simplify]: Simplify (+ 0) into 0 4.481 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.481 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 4.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.482 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 4.482 * [backup-simplify]: Simplify (- 0) into 0 4.482 * [backup-simplify]: Simplify (+ 0 0) into 0 4.482 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 4.482 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda2 2))) into 0 4.483 * [backup-simplify]: Simplify (+ 0 0) into 0 4.483 * [backup-simplify]: Simplify (+ 0 0) into 0 4.483 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 4.483 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.485 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 4.485 * [backup-simplify]: Simplify (+ 0) into 0 4.486 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 4.486 * [backup-simplify]: Simplify (+ 0) into 0 4.486 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 4.487 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 4.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.487 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 4.488 * [backup-simplify]: Simplify (+ 0 0) into 0 4.488 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2))) 4.488 * [backup-simplify]: Simplify (+ 0) into 0 4.489 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.489 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 4.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.490 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 4.490 * [backup-simplify]: Simplify (- 0) into 0 4.490 * [backup-simplify]: Simplify (+ 0 0) into 0 4.491 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) 4.491 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) 4.491 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.492 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.492 * [backup-simplify]: Simplify (+ 0) into 0 4.492 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.492 * [backup-simplify]: Simplify (+ 0 1) into 1 4.493 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.494 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.495 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.495 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.495 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 4.495 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 4.496 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.496 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.496 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.497 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 4.497 * [backup-simplify]: Simplify (- (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.498 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 2 phi2)))) 4.499 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 2 phi2)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))))) 4.500 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 4.500 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 4.500 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in phi2 4.500 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 4.500 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.500 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.500 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.500 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.500 * [backup-simplify]: Simplify 0.5 into 0.5 4.500 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.500 * [taylor]: Taking taylor expansion of phi2 in phi2 4.500 * [backup-simplify]: Simplify 0 into 0 4.500 * [backup-simplify]: Simplify 1 into 1 4.500 * [taylor]: Taking taylor expansion of phi1 in phi2 4.500 * [backup-simplify]: Simplify phi1 into phi1 4.500 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.500 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.500 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.500 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.500 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.500 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.500 * [backup-simplify]: Simplify (- 0) into 0 4.500 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.501 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.501 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.501 * [backup-simplify]: Simplify lambda1 into lambda1 4.501 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in phi2 4.501 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.501 * [taylor]: Taking taylor expansion of phi2 in phi2 4.501 * [backup-simplify]: Simplify 0 into 0 4.501 * [backup-simplify]: Simplify 1 into 1 4.501 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi2 4.501 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 4.501 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.501 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.501 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.501 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.501 * [backup-simplify]: Simplify 0.5 into 0.5 4.501 * [taylor]: Taking taylor expansion of phi2 in phi2 4.501 * [backup-simplify]: Simplify 0 into 0 4.501 * [backup-simplify]: Simplify 1 into 1 4.501 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.502 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.502 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 4.502 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 4.502 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 4.502 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.502 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.502 * [backup-simplify]: Simplify 0.5 into 0.5 4.502 * [taylor]: Taking taylor expansion of phi1 in phi2 4.502 * [backup-simplify]: Simplify phi1 into phi1 4.502 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.502 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.502 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.502 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.502 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.503 * [backup-simplify]: Simplify (- 0) into 0 4.503 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.503 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.503 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.503 * [backup-simplify]: Simplify lambda2 into lambda2 4.503 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi2 4.503 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.503 * [taylor]: Taking taylor expansion of phi1 in phi2 4.503 * [backup-simplify]: Simplify phi1 into phi1 4.503 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 4.503 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 4.503 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 4.503 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.503 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.503 * [backup-simplify]: Simplify 0.5 into 0.5 4.503 * [taylor]: Taking taylor expansion of phi2 in phi2 4.503 * [backup-simplify]: Simplify 0 into 0 4.503 * [backup-simplify]: Simplify 1 into 1 4.503 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.504 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.506 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 4.506 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.506 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.506 * [backup-simplify]: Simplify lambda2 into lambda2 4.506 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 4.506 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 4.506 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.506 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.506 * [backup-simplify]: Simplify 0.5 into 0.5 4.506 * [taylor]: Taking taylor expansion of phi1 in phi2 4.506 * [backup-simplify]: Simplify phi1 into phi1 4.506 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.506 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.506 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.506 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.506 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.506 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.506 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 4.506 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi2 4.506 * [taylor]: Taking taylor expansion of 2 in phi2 4.506 * [backup-simplify]: Simplify 2 into 2 4.506 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2 4.506 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.506 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.506 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.506 * [backup-simplify]: Simplify 0.5 into 0.5 4.506 * [taylor]: Taking taylor expansion of phi2 in phi2 4.506 * [backup-simplify]: Simplify 0 into 0 4.506 * [backup-simplify]: Simplify 1 into 1 4.507 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.508 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.508 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 4.508 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 4.508 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.508 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.508 * [backup-simplify]: Simplify 0.5 into 0.5 4.508 * [taylor]: Taking taylor expansion of phi2 in phi2 4.508 * [backup-simplify]: Simplify 0 into 0 4.508 * [backup-simplify]: Simplify 1 into 1 4.508 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.509 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.509 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 4.509 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 4.509 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.509 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.509 * [backup-simplify]: Simplify 0.5 into 0.5 4.509 * [taylor]: Taking taylor expansion of phi1 in phi2 4.509 * [backup-simplify]: Simplify phi1 into phi1 4.509 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.509 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.509 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.509 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 4.509 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 4.509 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.509 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.509 * [backup-simplify]: Simplify 0.5 into 0.5 4.509 * [taylor]: Taking taylor expansion of phi1 in phi2 4.509 * [backup-simplify]: Simplify phi1 into phi1 4.509 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.509 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.509 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.509 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.509 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.509 * [backup-simplify]: Simplify lambda2 into lambda2 4.509 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 4.509 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 4.509 * [taylor]: Taking taylor expansion of 2 in phi2 4.509 * [backup-simplify]: Simplify 2 into 2 4.509 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.509 * [taylor]: Taking taylor expansion of phi2 in phi2 4.509 * [backup-simplify]: Simplify 0 into 0 4.509 * [backup-simplify]: Simplify 1 into 1 4.509 * [taylor]: Taking taylor expansion of phi1 in phi2 4.510 * [backup-simplify]: Simplify phi1 into phi1 4.510 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 4.510 * [taylor]: Taking taylor expansion of 2 in phi2 4.510 * [backup-simplify]: Simplify 2 into 2 4.510 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 4.510 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.510 * [backup-simplify]: Simplify lambda2 into lambda2 4.510 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 4.510 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.510 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.510 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.510 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.510 * [backup-simplify]: Simplify 0.5 into 0.5 4.510 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.510 * [taylor]: Taking taylor expansion of phi2 in phi2 4.510 * [backup-simplify]: Simplify 0 into 0 4.510 * [backup-simplify]: Simplify 1 into 1 4.510 * [taylor]: Taking taylor expansion of phi1 in phi2 4.510 * [backup-simplify]: Simplify phi1 into phi1 4.510 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.510 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.510 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.510 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.510 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.510 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.510 * [backup-simplify]: Simplify (- 0) into 0 4.510 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.510 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.510 * [backup-simplify]: Simplify lambda1 into lambda1 4.511 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.511 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.511 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.511 * [backup-simplify]: Simplify (* 1 1) into 1 4.511 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.511 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.511 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 4.511 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 4.512 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.512 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 4.512 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2)) 4.512 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2)) 4.513 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.513 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.513 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.513 * [backup-simplify]: Simplify (- 0) into 0 4.513 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.513 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.513 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.513 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.513 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.513 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 4.514 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) 4.514 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 4.514 * [backup-simplify]: Simplify (* 1 0) into 0 4.514 * [backup-simplify]: Simplify (* 2 0) into 0 4.514 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.515 * [backup-simplify]: Simplify (* 2 0) into 0 4.515 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.515 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 4.515 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 4.515 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 4.515 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 4.515 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 4.516 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 4.516 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 4.517 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 4.517 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.517 * [backup-simplify]: Simplify (+ 0) into 0 4.518 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.518 * [backup-simplify]: Simplify (+ 1 0) into 1 4.518 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.520 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.520 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.520 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.521 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.521 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.521 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.521 * [backup-simplify]: Simplify (+ 0) into 0 4.521 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.522 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 4.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.523 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 4.523 * [backup-simplify]: Simplify (- 0) into 0 4.523 * [backup-simplify]: Simplify (+ 0 0) into 0 4.523 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 4.523 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 4.524 * [backup-simplify]: Simplify (+ 0) into 0 4.524 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.524 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 4.525 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.525 * [backup-simplify]: Simplify (+ 0 0) into 0 4.525 * [backup-simplify]: Simplify (+ 0 0) into 0 4.525 * [backup-simplify]: Simplify (+ 0 0) into 0 4.525 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.526 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 4.526 * [backup-simplify]: Simplify (+ 0) into 0 4.526 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 4.526 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 4.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.527 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 4.527 * [backup-simplify]: Simplify (+ 0 0) into 0 4.528 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 4.528 * [backup-simplify]: Simplify (+ 0) into 0 4.528 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.528 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 4.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.529 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 4.529 * [backup-simplify]: Simplify (- 0) into 0 4.530 * [backup-simplify]: Simplify (+ 0 0) into 0 4.530 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 4.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.532 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 4.532 * [backup-simplify]: Simplify (+ 0) into 0 4.532 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 4.533 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 4.533 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.533 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 4.534 * [backup-simplify]: Simplify (+ 0) into 0 4.534 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.534 * [backup-simplify]: Simplify (+ 1 0) into 1 4.535 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.536 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.537 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.537 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.537 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.537 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 4.537 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.538 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.538 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.539 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 4.539 * [backup-simplify]: Simplify (- (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))) 4.540 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 4.542 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 4.542 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2 4.542 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 4.542 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in lambda2 4.542 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 4.542 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.542 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.542 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.542 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.542 * [backup-simplify]: Simplify 0.5 into 0.5 4.542 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.542 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.542 * [backup-simplify]: Simplify phi2 into phi2 4.542 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.542 * [backup-simplify]: Simplify phi1 into phi1 4.542 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.542 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.542 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.542 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.542 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.542 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.543 * [backup-simplify]: Simplify (- 0) into 0 4.543 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.543 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.543 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.543 * [backup-simplify]: Simplify lambda1 into lambda1 4.543 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2 4.543 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.543 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.543 * [backup-simplify]: Simplify phi2 into phi2 4.543 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 4.543 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 4.543 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 4.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 4.543 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.543 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.543 * [backup-simplify]: Simplify 0.5 into 0.5 4.543 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.543 * [backup-simplify]: Simplify phi2 into phi2 4.543 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.543 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.543 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.544 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.544 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.544 * [backup-simplify]: Simplify (- 0) into 0 4.544 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.544 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 4.544 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 4.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 4.544 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.544 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.544 * [backup-simplify]: Simplify 0.5 into 0.5 4.544 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.544 * [backup-simplify]: Simplify phi1 into phi1 4.544 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.544 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.544 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.544 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.544 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.545 * [backup-simplify]: Simplify (- 0) into 0 4.545 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.545 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.545 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.545 * [backup-simplify]: Simplify 0 into 0 4.545 * [backup-simplify]: Simplify 1 into 1 4.545 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 4.545 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.545 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.545 * [backup-simplify]: Simplify phi1 into phi1 4.545 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 4.545 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 4.545 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 4.545 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.545 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.545 * [backup-simplify]: Simplify 0.5 into 0.5 4.545 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.545 * [backup-simplify]: Simplify phi2 into phi2 4.545 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.545 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.545 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.545 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 4.546 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.546 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 4.546 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 4.546 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.546 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.546 * [backup-simplify]: Simplify 0 into 0 4.546 * [backup-simplify]: Simplify 1 into 1 4.546 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 4.546 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 4.546 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.546 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.546 * [backup-simplify]: Simplify 0.5 into 0.5 4.546 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.546 * [backup-simplify]: Simplify phi1 into phi1 4.546 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.546 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.546 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.546 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.546 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.546 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.546 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 4.546 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2 4.546 * [taylor]: Taking taylor expansion of 2 in lambda2 4.546 * [backup-simplify]: Simplify 2 into 2 4.546 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2 4.546 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 4.546 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.546 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.546 * [backup-simplify]: Simplify 0.5 into 0.5 4.546 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.546 * [backup-simplify]: Simplify phi2 into phi2 4.546 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.546 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.546 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.546 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 4.546 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 4.546 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.547 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.547 * [backup-simplify]: Simplify 0.5 into 0.5 4.547 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.547 * [backup-simplify]: Simplify phi2 into phi2 4.547 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.547 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.547 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.547 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 4.547 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 4.547 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.547 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.547 * [backup-simplify]: Simplify 0.5 into 0.5 4.547 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.547 * [backup-simplify]: Simplify phi1 into phi1 4.547 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.547 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.547 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.547 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 4.547 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 4.547 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.547 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.547 * [backup-simplify]: Simplify 0.5 into 0.5 4.547 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.547 * [backup-simplify]: Simplify phi1 into phi1 4.547 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.547 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.547 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.547 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.547 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.547 * [backup-simplify]: Simplify 0 into 0 4.547 * [backup-simplify]: Simplify 1 into 1 4.547 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 4.547 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.547 * [taylor]: Taking taylor expansion of 2 in lambda2 4.547 * [backup-simplify]: Simplify 2 into 2 4.547 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.547 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.547 * [backup-simplify]: Simplify phi2 into phi2 4.547 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.547 * [backup-simplify]: Simplify phi1 into phi1 4.547 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 4.547 * [taylor]: Taking taylor expansion of 2 in lambda2 4.547 * [backup-simplify]: Simplify 2 into 2 4.547 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 4.547 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.547 * [backup-simplify]: Simplify 0 into 0 4.548 * [backup-simplify]: Simplify 1 into 1 4.548 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 4.548 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.548 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.548 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.548 * [backup-simplify]: Simplify 0.5 into 0.5 4.548 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.548 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.548 * [backup-simplify]: Simplify phi2 into phi2 4.548 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.548 * [backup-simplify]: Simplify phi1 into phi1 4.548 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.548 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.548 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.548 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.548 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.548 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.548 * [backup-simplify]: Simplify (- 0) into 0 4.549 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.549 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.549 * [backup-simplify]: Simplify lambda1 into lambda1 4.549 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.549 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.549 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 4.549 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.549 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.549 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 4.549 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 4.549 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.550 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 4.550 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.550 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.550 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.550 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 4.551 * [backup-simplify]: Simplify (* 2 0) into 0 4.551 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.551 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 4.551 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.552 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 4.553 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 4.553 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.553 * [backup-simplify]: Simplify (+ 0) into 0 4.558 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.558 * [backup-simplify]: Simplify (+ 0 0) into 0 4.559 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.560 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.560 * [backup-simplify]: Simplify (- 0) into 0 4.560 * [backup-simplify]: Simplify (+ 0 0) into 0 4.560 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.560 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 4.561 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.561 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.561 * [backup-simplify]: Simplify (+ 0 0) into 0 4.561 * [backup-simplify]: Simplify (+ 0 0) into 0 4.561 * [backup-simplify]: Simplify (+ 0 0) into 0 4.562 * [backup-simplify]: Simplify (+ 0 0) into 0 4.562 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.562 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.562 * [backup-simplify]: Simplify (+ 0) into 0 4.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.563 * [backup-simplify]: Simplify (+ 0 0) into 0 4.563 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.564 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.564 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.564 * [backup-simplify]: Simplify (- 0) into 0 4.564 * [backup-simplify]: Simplify (+ 0 0) into 0 4.564 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.565 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 4.565 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.566 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.566 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.566 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.566 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.566 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.567 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.567 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2 4.567 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 4.567 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in lambda2 4.567 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 4.567 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.567 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.567 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.567 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.567 * [backup-simplify]: Simplify 0.5 into 0.5 4.567 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.567 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.567 * [backup-simplify]: Simplify phi2 into phi2 4.567 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.568 * [backup-simplify]: Simplify phi1 into phi1 4.568 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.568 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.568 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.568 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.568 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.568 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.568 * [backup-simplify]: Simplify (- 0) into 0 4.568 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.568 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.568 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.568 * [backup-simplify]: Simplify lambda1 into lambda1 4.568 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2 4.568 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.568 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.568 * [backup-simplify]: Simplify phi2 into phi2 4.568 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 4.568 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 4.568 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 4.568 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 4.568 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.568 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.568 * [backup-simplify]: Simplify 0.5 into 0.5 4.568 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.569 * [backup-simplify]: Simplify phi2 into phi2 4.569 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.569 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.569 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.569 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.569 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.569 * [backup-simplify]: Simplify (- 0) into 0 4.569 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.569 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 4.569 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 4.569 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 4.569 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.569 * [backup-simplify]: Simplify 0.5 into 0.5 4.569 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.569 * [backup-simplify]: Simplify phi1 into phi1 4.569 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.569 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.569 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.569 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.569 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.570 * [backup-simplify]: Simplify (- 0) into 0 4.570 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.570 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.570 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.570 * [backup-simplify]: Simplify 0 into 0 4.570 * [backup-simplify]: Simplify 1 into 1 4.570 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 4.570 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.570 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.570 * [backup-simplify]: Simplify phi1 into phi1 4.570 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 4.570 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 4.570 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 4.570 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.570 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.570 * [backup-simplify]: Simplify 0.5 into 0.5 4.570 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.570 * [backup-simplify]: Simplify phi2 into phi2 4.570 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.570 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.570 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.570 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 4.570 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.570 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 4.570 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 4.570 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.570 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.570 * [backup-simplify]: Simplify 0 into 0 4.570 * [backup-simplify]: Simplify 1 into 1 4.570 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 4.570 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 4.570 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.570 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.571 * [backup-simplify]: Simplify 0.5 into 0.5 4.571 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.571 * [backup-simplify]: Simplify phi1 into phi1 4.571 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.571 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.571 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.571 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.571 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.571 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.571 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 4.571 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2 4.571 * [taylor]: Taking taylor expansion of 2 in lambda2 4.571 * [backup-simplify]: Simplify 2 into 2 4.571 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2 4.571 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 4.571 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.571 * [backup-simplify]: Simplify 0.5 into 0.5 4.571 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.571 * [backup-simplify]: Simplify phi2 into phi2 4.571 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.571 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.571 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.571 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 4.571 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 4.571 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 4.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.571 * [backup-simplify]: Simplify 0.5 into 0.5 4.571 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.571 * [backup-simplify]: Simplify phi2 into phi2 4.571 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.571 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.571 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.571 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 4.571 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 4.571 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.571 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.572 * [backup-simplify]: Simplify 0.5 into 0.5 4.572 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.572 * [backup-simplify]: Simplify phi1 into phi1 4.572 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.572 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.572 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.572 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 4.572 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 4.572 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 4.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.572 * [backup-simplify]: Simplify 0.5 into 0.5 4.572 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.572 * [backup-simplify]: Simplify phi1 into phi1 4.572 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.572 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.572 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.572 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.572 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.572 * [backup-simplify]: Simplify 0 into 0 4.572 * [backup-simplify]: Simplify 1 into 1 4.572 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 4.572 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.572 * [taylor]: Taking taylor expansion of 2 in lambda2 4.572 * [backup-simplify]: Simplify 2 into 2 4.572 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.572 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.572 * [backup-simplify]: Simplify phi2 into phi2 4.572 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.572 * [backup-simplify]: Simplify phi1 into phi1 4.572 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 4.572 * [taylor]: Taking taylor expansion of 2 in lambda2 4.572 * [backup-simplify]: Simplify 2 into 2 4.572 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 4.572 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.572 * [backup-simplify]: Simplify 0 into 0 4.572 * [backup-simplify]: Simplify 1 into 1 4.572 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 4.572 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.572 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.572 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.572 * [backup-simplify]: Simplify 0.5 into 0.5 4.572 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.572 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.572 * [backup-simplify]: Simplify phi2 into phi2 4.572 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.572 * [backup-simplify]: Simplify phi1 into phi1 4.572 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.572 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.573 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.573 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.573 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.573 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.573 * [backup-simplify]: Simplify (- 0) into 0 4.573 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.573 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.573 * [backup-simplify]: Simplify lambda1 into lambda1 4.573 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.573 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.573 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 4.573 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.574 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.574 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 4.574 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 4.574 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.574 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 4.574 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.574 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.574 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.575 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.575 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 4.575 * [backup-simplify]: Simplify (* 2 0) into 0 4.575 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 4.575 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 4.575 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.576 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 4.576 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 4.576 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.577 * [backup-simplify]: Simplify (+ 0) into 0 4.577 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.577 * [backup-simplify]: Simplify (+ 0 0) into 0 4.577 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.578 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.579 * [backup-simplify]: Simplify (- 0) into 0 4.579 * [backup-simplify]: Simplify (+ 0 0) into 0 4.579 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.579 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 4.579 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.579 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.579 * [backup-simplify]: Simplify (+ 0 0) into 0 4.580 * [backup-simplify]: Simplify (+ 0 0) into 0 4.580 * [backup-simplify]: Simplify (+ 0 0) into 0 4.580 * [backup-simplify]: Simplify (+ 0 0) into 0 4.580 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.581 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.581 * [backup-simplify]: Simplify (+ 0) into 0 4.581 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.581 * [backup-simplify]: Simplify (+ 0 0) into 0 4.582 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.582 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.583 * [backup-simplify]: Simplify (- 0) into 0 4.583 * [backup-simplify]: Simplify (+ 0 0) into 0 4.583 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.583 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 4.584 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 4.584 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.584 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.585 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 4.585 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.585 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.586 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.586 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 4.586 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 4.586 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 4.586 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.586 * [taylor]: Taking taylor expansion of phi1 in phi2 4.586 * [backup-simplify]: Simplify phi1 into phi1 4.586 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 4.586 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 4.586 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.586 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.586 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.586 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.586 * [backup-simplify]: Simplify 0.5 into 0.5 4.586 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.586 * [taylor]: Taking taylor expansion of phi2 in phi2 4.586 * [backup-simplify]: Simplify 0 into 0 4.586 * [backup-simplify]: Simplify 1 into 1 4.586 * [taylor]: Taking taylor expansion of phi1 in phi2 4.586 * [backup-simplify]: Simplify phi1 into phi1 4.586 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.586 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.586 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.586 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.586 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.586 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.587 * [backup-simplify]: Simplify (- 0) into 0 4.587 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.587 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.587 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.587 * [backup-simplify]: Simplify lambda1 into lambda1 4.587 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.587 * [taylor]: Taking taylor expansion of phi2 in phi2 4.587 * [backup-simplify]: Simplify 0 into 0 4.587 * [backup-simplify]: Simplify 1 into 1 4.587 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 4.587 * [taylor]: Taking taylor expansion of 2 in phi2 4.587 * [backup-simplify]: Simplify 2 into 2 4.587 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.587 * [taylor]: Taking taylor expansion of phi2 in phi2 4.587 * [backup-simplify]: Simplify 0 into 0 4.587 * [backup-simplify]: Simplify 1 into 1 4.587 * [taylor]: Taking taylor expansion of phi1 in phi2 4.587 * [backup-simplify]: Simplify phi1 into phi1 4.587 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.587 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.587 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.587 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.588 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.588 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.588 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.588 * [backup-simplify]: Simplify (* 2 0) into 0 4.588 * [backup-simplify]: Simplify (- 0) into 0 4.589 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.589 * [backup-simplify]: Simplify (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.589 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.589 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.589 * [backup-simplify]: Simplify (+ 0) into 0 4.590 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.590 * [backup-simplify]: Simplify (+ 1 0) into 1 4.590 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.592 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.592 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.592 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.592 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.593 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.593 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.593 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.594 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.594 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 4.594 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 4.594 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) 4.595 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) 4.595 * [taylor]: Taking taylor expansion of (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.595 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.595 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.595 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.595 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.595 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.595 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.595 * [backup-simplify]: Simplify 0.5 into 0.5 4.595 * [taylor]: Taking taylor expansion of phi1 in phi1 4.595 * [backup-simplify]: Simplify 0 into 0 4.595 * [backup-simplify]: Simplify 1 into 1 4.595 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.596 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.596 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.596 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.596 * [backup-simplify]: Simplify lambda1 into lambda1 4.597 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.597 * [taylor]: Taking taylor expansion of phi1 in phi1 4.597 * [backup-simplify]: Simplify 0 into 0 4.597 * [backup-simplify]: Simplify 1 into 1 4.597 * [backup-simplify]: Simplify (* 1 1) into 1 4.597 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.597 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.597 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.597 * [backup-simplify]: Simplify (sqrt (pow lambda1 2)) into lambda1 4.597 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.597 * [backup-simplify]: Simplify (+ 0) into 0 4.598 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.598 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.598 * [backup-simplify]: Simplify (+ 0 0) into 0 4.598 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (pow lambda1 2)))) into 0 4.598 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.599 * [backup-simplify]: Simplify 0 into 0 4.599 * [backup-simplify]: Simplify 1 into 1 4.599 * [backup-simplify]: Simplify 0 into 0 4.599 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 4.599 * [taylor]: Taking taylor expansion of -1 in phi2 4.599 * [backup-simplify]: Simplify -1 into -1 4.599 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 4.599 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2 4.599 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 4.599 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 4.599 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 4.599 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.599 * [taylor]: Taking taylor expansion of phi1 in phi2 4.599 * [backup-simplify]: Simplify phi1 into phi1 4.599 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 4.599 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 4.599 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.599 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.599 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.599 * [backup-simplify]: Simplify 0.5 into 0.5 4.599 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.599 * [taylor]: Taking taylor expansion of phi2 in phi2 4.599 * [backup-simplify]: Simplify 0 into 0 4.599 * [backup-simplify]: Simplify 1 into 1 4.599 * [taylor]: Taking taylor expansion of phi1 in phi2 4.599 * [backup-simplify]: Simplify phi1 into phi1 4.599 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.599 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.599 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.599 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.599 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.599 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.600 * [backup-simplify]: Simplify (- 0) into 0 4.600 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.600 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.600 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.600 * [backup-simplify]: Simplify lambda1 into lambda1 4.600 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.600 * [taylor]: Taking taylor expansion of phi2 in phi2 4.600 * [backup-simplify]: Simplify 0 into 0 4.600 * [backup-simplify]: Simplify 1 into 1 4.600 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 4.600 * [taylor]: Taking taylor expansion of 2 in phi2 4.600 * [backup-simplify]: Simplify 2 into 2 4.600 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.600 * [taylor]: Taking taylor expansion of phi2 in phi2 4.600 * [backup-simplify]: Simplify 0 into 0 4.600 * [backup-simplify]: Simplify 1 into 1 4.600 * [taylor]: Taking taylor expansion of phi1 in phi2 4.600 * [backup-simplify]: Simplify phi1 into phi1 4.600 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.600 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.600 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.600 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.600 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.601 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.601 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.601 * [backup-simplify]: Simplify (* 2 0) into 0 4.601 * [backup-simplify]: Simplify (- 0) into 0 4.602 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.602 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.602 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 4.602 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.602 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.602 * [backup-simplify]: Simplify (+ 0) into 0 4.603 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.603 * [backup-simplify]: Simplify (+ 1 0) into 1 4.603 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.605 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.605 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.605 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.606 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.606 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.606 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.606 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.607 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.607 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 4.607 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 4.607 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) 4.608 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) 4.610 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 4.610 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 4.610 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.610 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.610 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.610 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.610 * [backup-simplify]: Simplify 0.5 into 0.5 4.610 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.610 * [taylor]: Taking taylor expansion of phi2 in phi2 4.610 * [backup-simplify]: Simplify 0 into 0 4.610 * [backup-simplify]: Simplify 1 into 1 4.610 * [taylor]: Taking taylor expansion of phi1 in phi2 4.610 * [backup-simplify]: Simplify phi1 into phi1 4.610 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.610 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.610 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.610 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.610 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.610 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.610 * [backup-simplify]: Simplify (- 0) into 0 4.611 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.611 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.611 * [backup-simplify]: Simplify lambda1 into lambda1 4.611 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.611 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 4.611 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 4.612 * [backup-simplify]: Simplify (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) 4.612 * [taylor]: Taking taylor expansion of (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 4.612 * [taylor]: Taking taylor expansion of -1 in phi1 4.612 * [backup-simplify]: Simplify -1 into -1 4.612 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 4.612 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1 4.612 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.612 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.612 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.612 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.612 * [backup-simplify]: Simplify 0.5 into 0.5 4.612 * [taylor]: Taking taylor expansion of phi1 in phi1 4.612 * [backup-simplify]: Simplify 0 into 0 4.612 * [backup-simplify]: Simplify 1 into 1 4.612 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.613 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.613 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.613 * [backup-simplify]: Simplify lambda1 into lambda1 4.613 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.613 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.613 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.613 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.613 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.613 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.613 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.613 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.613 * [backup-simplify]: Simplify 0.5 into 0.5 4.613 * [taylor]: Taking taylor expansion of phi1 in phi1 4.613 * [backup-simplify]: Simplify 0 into 0 4.613 * [backup-simplify]: Simplify 1 into 1 4.614 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.614 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.615 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.615 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.615 * [backup-simplify]: Simplify lambda1 into lambda1 4.615 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.615 * [taylor]: Taking taylor expansion of phi1 in phi1 4.615 * [backup-simplify]: Simplify 0 into 0 4.615 * [backup-simplify]: Simplify 1 into 1 4.615 * [backup-simplify]: Simplify (* 1 1) into 1 4.615 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.615 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.615 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.615 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 4.615 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 4.615 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.616 * [backup-simplify]: Simplify (+ 0) into 0 4.616 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.616 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.617 * [backup-simplify]: Simplify (+ 0 0) into 0 4.617 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 4.617 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 4.618 * [backup-simplify]: Simplify (* 1 1) into 1 4.618 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1 4.618 * [backup-simplify]: Simplify (* lambda1 (/ 1 lambda1)) into 1 4.618 * [backup-simplify]: Simplify (* -1 1) into -1 4.618 * [taylor]: Taking taylor expansion of -1 in lambda1 4.618 * [backup-simplify]: Simplify -1 into -1 4.618 * [backup-simplify]: Simplify -1 into -1 4.618 * [taylor]: Taking taylor expansion of (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) in phi1 4.618 * [taylor]: Taking taylor expansion of -1/2 in phi1 4.618 * [backup-simplify]: Simplify -1/2 into -1/2 4.618 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) in phi1 4.618 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.618 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.618 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.618 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.618 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.618 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.618 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.618 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.618 * [backup-simplify]: Simplify 0.5 into 0.5 4.618 * [taylor]: Taking taylor expansion of phi1 in phi1 4.618 * [backup-simplify]: Simplify 0 into 0 4.618 * [backup-simplify]: Simplify 1 into 1 4.619 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.619 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.620 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.620 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.620 * [backup-simplify]: Simplify lambda1 into lambda1 4.620 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.620 * [taylor]: Taking taylor expansion of phi1 in phi1 4.620 * [backup-simplify]: Simplify 0 into 0 4.620 * [backup-simplify]: Simplify 1 into 1 4.620 * [backup-simplify]: Simplify (* 1 1) into 1 4.620 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.620 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.620 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.620 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 4.620 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 4.620 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.621 * [backup-simplify]: Simplify (+ 0) into 0 4.621 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.621 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.622 * [backup-simplify]: Simplify (+ 0 0) into 0 4.622 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 4.622 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 4.622 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) in phi1 4.622 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 4.622 * [taylor]: Taking taylor expansion of 1.0 in phi1 4.622 * [backup-simplify]: Simplify 1.0 into 1.0 4.622 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 4.622 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.622 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.622 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.622 * [backup-simplify]: Simplify 0.5 into 0.5 4.622 * [taylor]: Taking taylor expansion of phi1 in phi1 4.622 * [backup-simplify]: Simplify 0 into 0 4.622 * [backup-simplify]: Simplify 1 into 1 4.622 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.623 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.623 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 4.623 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.623 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.623 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.623 * [backup-simplify]: Simplify 0.5 into 0.5 4.623 * [taylor]: Taking taylor expansion of phi1 in phi1 4.623 * [backup-simplify]: Simplify 0 into 0 4.623 * [backup-simplify]: Simplify 1 into 1 4.624 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.625 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.625 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.625 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.625 * [backup-simplify]: Simplify lambda1 into lambda1 4.625 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1 4.625 * [taylor]: Taking taylor expansion of 2 in phi1 4.625 * [backup-simplify]: Simplify 2 into 2 4.625 * [taylor]: Taking taylor expansion of phi1 in phi1 4.625 * [backup-simplify]: Simplify 0 into 0 4.625 * [backup-simplify]: Simplify 1 into 1 4.625 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.625 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 4.625 * [backup-simplify]: Simplify (* 1 0) into 0 4.625 * [backup-simplify]: Simplify (* 1.0 0) into 0 4.626 * [backup-simplify]: Simplify (* 2 0) into 0 4.626 * [backup-simplify]: Simplify (+ 0 0) into 0 4.626 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0 4.626 * [backup-simplify]: Simplify (* -1/2 0) into 0 4.626 * [taylor]: Taking taylor expansion of 0 in lambda1 4.626 * [backup-simplify]: Simplify 0 into 0 4.626 * [backup-simplify]: Simplify 0 into 0 4.626 * [taylor]: Taking taylor expansion of 0 in lambda1 4.626 * [backup-simplify]: Simplify 0 into 0 4.627 * [backup-simplify]: Simplify 0 into 0 4.627 * [backup-simplify]: Simplify 1 into 1 4.627 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 4.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.628 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.628 * [backup-simplify]: Simplify (+ 0 0) into 0 4.629 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.630 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.630 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.630 * [backup-simplify]: Simplify (- 0) into 0 4.630 * [backup-simplify]: Simplify (+ 0 0) into 0 4.631 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.631 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 4.632 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 4.632 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 4.632 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.632 * [backup-simplify]: Simplify (* 1 1) into 1 4.632 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) 1) into (pow (cos (* 0.5 phi1)) 2) 4.633 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) 4.633 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 4.633 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 4.633 * [backup-simplify]: Simplify (* 1 1) into 1 4.633 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 4.633 * [backup-simplify]: Simplify (* 1 (pow (sin (* 0.5 phi1)) 2)) into (pow (sin (* 0.5 phi1)) 2) 4.634 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) 4.634 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) 4.634 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) 4.635 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) 4.635 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) 4.635 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.635 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.636 * [backup-simplify]: Simplify (- 0) into 0 4.636 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.636 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 4.636 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 4.636 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 4.636 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.636 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.637 * [backup-simplify]: Simplify (- 0) into 0 4.637 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.637 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.637 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.637 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.637 * [backup-simplify]: Simplify (* 1 1) into 1 4.637 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.637 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) 4.638 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 4.638 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.638 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 4.638 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 4.639 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 4.639 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.640 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.640 * [backup-simplify]: Simplify (+ 0 0) into 0 4.641 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.641 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.641 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.642 * [backup-simplify]: Simplify (- 0) into 0 4.642 * [backup-simplify]: Simplify (+ 0 0) into 0 4.642 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.643 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0 4.643 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0 4.644 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0 4.644 * [backup-simplify]: Simplify (+ 0 0) into 0 4.645 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 4.645 * [backup-simplify]: Simplify (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 4.646 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 4.648 * [backup-simplify]: Simplify (/ (- (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (pow (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))))) 4.649 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))))) in phi2 4.649 * [taylor]: Taking taylor expansion of 1/2 in phi2 4.649 * [backup-simplify]: Simplify 1/2 into 1/2 4.649 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))))) in phi2 4.649 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2 4.649 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 4.649 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 4.649 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 4.649 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.649 * [taylor]: Taking taylor expansion of phi1 in phi2 4.649 * [backup-simplify]: Simplify phi1 into phi1 4.649 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 4.649 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 4.649 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.649 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.649 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.649 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.649 * [backup-simplify]: Simplify 0.5 into 0.5 4.649 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.649 * [taylor]: Taking taylor expansion of phi2 in phi2 4.649 * [backup-simplify]: Simplify 0 into 0 4.649 * [backup-simplify]: Simplify 1 into 1 4.649 * [taylor]: Taking taylor expansion of phi1 in phi2 4.649 * [backup-simplify]: Simplify phi1 into phi1 4.649 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.649 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.649 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.649 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.649 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.649 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.650 * [backup-simplify]: Simplify (- 0) into 0 4.650 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.650 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.650 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.650 * [backup-simplify]: Simplify lambda1 into lambda1 4.650 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.650 * [taylor]: Taking taylor expansion of phi2 in phi2 4.650 * [backup-simplify]: Simplify 0 into 0 4.650 * [backup-simplify]: Simplify 1 into 1 4.650 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 4.650 * [taylor]: Taking taylor expansion of 2 in phi2 4.650 * [backup-simplify]: Simplify 2 into 2 4.650 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.650 * [taylor]: Taking taylor expansion of phi2 in phi2 4.650 * [backup-simplify]: Simplify 0 into 0 4.650 * [backup-simplify]: Simplify 1 into 1 4.650 * [taylor]: Taking taylor expansion of phi1 in phi2 4.650 * [backup-simplify]: Simplify phi1 into phi1 4.650 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.650 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.650 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.650 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.650 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.651 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.651 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.651 * [backup-simplify]: Simplify (* 2 0) into 0 4.651 * [backup-simplify]: Simplify (- 0) into 0 4.652 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.652 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.652 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 4.652 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.652 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.652 * [backup-simplify]: Simplify (+ 0) into 0 4.653 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.653 * [backup-simplify]: Simplify (+ 1 0) into 1 4.653 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.655 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.655 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.655 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.656 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.656 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.656 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.656 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 4.657 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.657 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 4.657 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 4.657 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) 4.658 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) 4.660 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 4.660 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) in phi2 4.660 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 4.660 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2 4.660 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 4.660 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.660 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.660 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.660 * [backup-simplify]: Simplify 0.5 into 0.5 4.660 * [taylor]: Taking taylor expansion of phi2 in phi2 4.660 * [backup-simplify]: Simplify 0 into 0 4.660 * [backup-simplify]: Simplify 1 into 1 4.665 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.666 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.666 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 4.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 4.666 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.666 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.667 * [backup-simplify]: Simplify 0.5 into 0.5 4.667 * [taylor]: Taking taylor expansion of phi1 in phi2 4.667 * [backup-simplify]: Simplify phi1 into phi1 4.667 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.667 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.667 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.667 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.667 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.667 * [backup-simplify]: Simplify (- 0) into 0 4.667 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.667 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 4.667 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 4.667 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 4.667 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.667 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.667 * [backup-simplify]: Simplify 0.5 into 0.5 4.667 * [taylor]: Taking taylor expansion of phi2 in phi2 4.667 * [backup-simplify]: Simplify 0 into 0 4.667 * [backup-simplify]: Simplify 1 into 1 4.668 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.668 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.670 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 4.670 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 4.670 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.670 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.670 * [backup-simplify]: Simplify 0.5 into 0.5 4.670 * [taylor]: Taking taylor expansion of phi1 in phi2 4.670 * [backup-simplify]: Simplify phi1 into phi1 4.670 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.670 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.670 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.670 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.670 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.670 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.670 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2 4.670 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) in phi2 4.670 * [taylor]: Taking taylor expansion of 2 in phi2 4.670 * [backup-simplify]: Simplify 2 into 2 4.670 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi2 4.670 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.670 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.671 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.671 * [backup-simplify]: Simplify 0.5 into 0.5 4.671 * [taylor]: Taking taylor expansion of phi2 in phi2 4.671 * [backup-simplify]: Simplify 0 into 0 4.671 * [backup-simplify]: Simplify 1 into 1 4.671 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.672 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.672 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi2 4.672 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 4.672 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.672 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.672 * [backup-simplify]: Simplify 0.5 into 0.5 4.672 * [taylor]: Taking taylor expansion of phi2 in phi2 4.672 * [backup-simplify]: Simplify 0 into 0 4.672 * [backup-simplify]: Simplify 1 into 1 4.672 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.673 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.673 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi2 4.673 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 4.673 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.673 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.673 * [backup-simplify]: Simplify 0.5 into 0.5 4.673 * [taylor]: Taking taylor expansion of phi1 in phi2 4.673 * [backup-simplify]: Simplify phi1 into phi1 4.673 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.673 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.673 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.673 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 4.673 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 4.673 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.673 * [backup-simplify]: Simplify 0.5 into 0.5 4.673 * [taylor]: Taking taylor expansion of phi1 in phi2 4.674 * [backup-simplify]: Simplify phi1 into phi1 4.674 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.674 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.674 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.674 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2 4.674 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) in phi2 4.674 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in phi2 4.674 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.674 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.674 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.674 * [backup-simplify]: Simplify 0.5 into 0.5 4.674 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.674 * [taylor]: Taking taylor expansion of phi2 in phi2 4.674 * [backup-simplify]: Simplify 0 into 0 4.674 * [backup-simplify]: Simplify 1 into 1 4.674 * [taylor]: Taking taylor expansion of phi1 in phi2 4.674 * [backup-simplify]: Simplify phi1 into phi1 4.674 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.674 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.674 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.674 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.674 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.674 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.674 * [backup-simplify]: Simplify (- 0) into 0 4.675 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.675 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.675 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.675 * [backup-simplify]: Simplify lambda1 into lambda1 4.675 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2 4.675 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2 4.675 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.675 * [taylor]: Taking taylor expansion of phi1 in phi2 4.675 * [backup-simplify]: Simplify phi1 into phi1 4.675 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2 4.675 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 4.675 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 4.675 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.675 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.675 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.675 * [backup-simplify]: Simplify 0.5 into 0.5 4.675 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.675 * [taylor]: Taking taylor expansion of phi2 in phi2 4.675 * [backup-simplify]: Simplify 0 into 0 4.675 * [backup-simplify]: Simplify 1 into 1 4.675 * [taylor]: Taking taylor expansion of phi1 in phi2 4.675 * [backup-simplify]: Simplify phi1 into phi1 4.675 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.675 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.675 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.675 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.675 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.675 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.675 * [backup-simplify]: Simplify (- 0) into 0 4.675 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.675 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.675 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.676 * [backup-simplify]: Simplify lambda1 into lambda1 4.676 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.676 * [taylor]: Taking taylor expansion of phi2 in phi2 4.676 * [backup-simplify]: Simplify 0 into 0 4.676 * [backup-simplify]: Simplify 1 into 1 4.676 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 4.676 * [taylor]: Taking taylor expansion of 2 in phi2 4.676 * [backup-simplify]: Simplify 2 into 2 4.676 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.676 * [taylor]: Taking taylor expansion of phi2 in phi2 4.676 * [backup-simplify]: Simplify 0 into 0 4.676 * [backup-simplify]: Simplify 1 into 1 4.676 * [taylor]: Taking taylor expansion of phi1 in phi2 4.676 * [backup-simplify]: Simplify phi1 into phi1 4.676 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.676 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 4) 4.676 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.676 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) 4.676 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.676 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.676 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.677 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.677 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 4.677 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.677 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.677 * [backup-simplify]: Simplify (* 2 0) into 0 4.678 * [backup-simplify]: Simplify (- 0) into 0 4.678 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 4.678 * [backup-simplify]: Simplify (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.679 * [backup-simplify]: Simplify (* 1 1) into 1 4.679 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 4.679 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 2) 4.679 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2) 4.679 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.679 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.679 * [backup-simplify]: Simplify (- 0) into 0 4.679 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.679 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 4.679 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 4.679 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 4.680 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) 4.680 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into 0 4.680 * [backup-simplify]: Simplify (* 1 0) into 0 4.680 * [backup-simplify]: Simplify (* 2 0) into 0 4.681 * [backup-simplify]: Simplify (+ 0 (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 4.681 * [backup-simplify]: Simplify (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 4.682 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) 4.683 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) 4.683 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) 4.683 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 4.683 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.683 * [backup-simplify]: Simplify 1/2 into 1/2 4.684 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 4.684 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.684 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.684 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.684 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.684 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.684 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.684 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.684 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.684 * [backup-simplify]: Simplify 0.5 into 0.5 4.684 * [taylor]: Taking taylor expansion of phi1 in phi1 4.684 * [backup-simplify]: Simplify 0 into 0 4.684 * [backup-simplify]: Simplify 1 into 1 4.684 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.685 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.685 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.685 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.685 * [backup-simplify]: Simplify lambda1 into lambda1 4.685 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.685 * [taylor]: Taking taylor expansion of phi1 in phi1 4.685 * [backup-simplify]: Simplify 0 into 0 4.685 * [backup-simplify]: Simplify 1 into 1 4.685 * [backup-simplify]: Simplify (* 1 1) into 1 4.685 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.686 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.686 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.686 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 4.686 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 4.686 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.686 * [backup-simplify]: Simplify (+ 0) into 0 4.687 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.687 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.687 * [backup-simplify]: Simplify (+ 0 0) into 0 4.688 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 4.688 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 4.688 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.688 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.688 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.688 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.688 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.688 * [backup-simplify]: Simplify 0.5 into 0.5 4.688 * [taylor]: Taking taylor expansion of phi1 in phi1 4.688 * [backup-simplify]: Simplify 0 into 0 4.688 * [backup-simplify]: Simplify 1 into 1 4.688 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.689 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.689 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.689 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) in phi1 4.689 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 4) in phi1 4.689 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.689 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.689 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.689 * [backup-simplify]: Simplify 0.5 into 0.5 4.689 * [taylor]: Taking taylor expansion of phi1 in phi1 4.689 * [backup-simplify]: Simplify 0 into 0 4.689 * [backup-simplify]: Simplify 1 into 1 4.689 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.690 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.690 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.690 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.690 * [backup-simplify]: Simplify lambda1 into lambda1 4.690 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.690 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.690 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.690 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.690 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.691 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.691 * [backup-simplify]: Simplify 0.5 into 0.5 4.691 * [taylor]: Taking taylor expansion of phi1 in phi1 4.691 * [backup-simplify]: Simplify 0 into 0 4.691 * [backup-simplify]: Simplify 1 into 1 4.691 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.692 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.692 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.692 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.692 * [backup-simplify]: Simplify lambda1 into lambda1 4.692 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.692 * [taylor]: Taking taylor expansion of phi1 in phi1 4.692 * [backup-simplify]: Simplify 0 into 0 4.692 * [backup-simplify]: Simplify 1 into 1 4.692 * [backup-simplify]: Simplify (* 1 1) into 1 4.692 * [backup-simplify]: Simplify (* 1 1) into 1 4.692 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.692 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.693 * [backup-simplify]: Simplify (* 1 1) into 1 4.693 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.693 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.693 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.693 * [backup-simplify]: Simplify (/ (pow lambda1 2) (pow lambda1 2)) into 1 4.693 * [backup-simplify]: Simplify (* 1 1) into 1 4.694 * [backup-simplify]: Simplify (- 1) into -1 4.694 * [backup-simplify]: Simplify (+ 1 -1) into 0 4.694 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0 4.694 * [backup-simplify]: Simplify (* 1/2 0) into 0 4.694 * [taylor]: Taking taylor expansion of 0 in lambda1 4.694 * [backup-simplify]: Simplify 0 into 0 4.694 * [backup-simplify]: Simplify 0 into 0 4.695 * [backup-simplify]: Simplify (+ 0) into 0 4.695 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.695 * [backup-simplify]: Simplify (+ 1 0) into 1 4.695 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.697 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.698 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.698 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.698 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 4.698 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 4.700 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) 4.703 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (* 0 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) into (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))))) 4.703 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))))) in phi1 4.703 * [taylor]: Taking taylor expansion of (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 4.703 * [taylor]: Taking taylor expansion of 1.0 in phi1 4.703 * [backup-simplify]: Simplify 1.0 into 1.0 4.703 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 4.703 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1 4.703 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.703 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.703 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.703 * [backup-simplify]: Simplify 0.5 into 0.5 4.703 * [taylor]: Taking taylor expansion of phi1 in phi1 4.703 * [backup-simplify]: Simplify 0 into 0 4.703 * [backup-simplify]: Simplify 1 into 1 4.704 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.705 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.705 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1 4.705 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.705 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.705 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.705 * [backup-simplify]: Simplify 0.5 into 0.5 4.705 * [taylor]: Taking taylor expansion of phi1 in phi1 4.705 * [backup-simplify]: Simplify 0 into 0 4.705 * [backup-simplify]: Simplify 1 into 1 4.705 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.706 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.706 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.706 * [backup-simplify]: Simplify lambda1 into lambda1 4.706 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.706 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.706 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.706 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.706 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.706 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.706 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.706 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.706 * [backup-simplify]: Simplify 0.5 into 0.5 4.706 * [taylor]: Taking taylor expansion of phi1 in phi1 4.706 * [backup-simplify]: Simplify 0 into 0 4.706 * [backup-simplify]: Simplify 1 into 1 4.707 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.708 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.708 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.708 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.708 * [backup-simplify]: Simplify lambda1 into lambda1 4.708 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.708 * [taylor]: Taking taylor expansion of phi1 in phi1 4.708 * [backup-simplify]: Simplify 0 into 0 4.708 * [backup-simplify]: Simplify 1 into 1 4.708 * [backup-simplify]: Simplify (* 1 1) into 1 4.708 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.708 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.708 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.708 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 4.708 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 4.709 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.709 * [backup-simplify]: Simplify (+ 0) into 0 4.709 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.709 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.710 * [backup-simplify]: Simplify (+ 0 0) into 0 4.710 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 4.710 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 4.710 * [taylor]: Taking taylor expansion of (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) in phi1 4.710 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1 4.710 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) in phi1 4.710 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.710 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.710 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.710 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.710 * [backup-simplify]: Simplify 0.5 into 0.5 4.710 * [taylor]: Taking taylor expansion of phi1 in phi1 4.710 * [backup-simplify]: Simplify 0 into 0 4.710 * [backup-simplify]: Simplify 1 into 1 4.711 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.711 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.711 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 4.712 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.712 * [backup-simplify]: Simplify lambda1 into lambda1 4.712 * [taylor]: Taking taylor expansion of phi1 in phi1 4.712 * [backup-simplify]: Simplify 0 into 0 4.712 * [backup-simplify]: Simplify 1 into 1 4.712 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1 4.712 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1 4.712 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1 4.712 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.712 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.712 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.712 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.712 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.712 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.712 * [backup-simplify]: Simplify 0.5 into 0.5 4.712 * [taylor]: Taking taylor expansion of phi1 in phi1 4.712 * [backup-simplify]: Simplify 0 into 0 4.712 * [backup-simplify]: Simplify 1 into 1 4.712 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.713 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.713 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.713 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.713 * [backup-simplify]: Simplify lambda1 into lambda1 4.713 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.713 * [taylor]: Taking taylor expansion of phi1 in phi1 4.713 * [backup-simplify]: Simplify 0 into 0 4.713 * [backup-simplify]: Simplify 1 into 1 4.713 * [backup-simplify]: Simplify (* 1 1) into 1 4.713 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.713 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.714 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.714 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 4.714 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6) 4.714 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6)) 4.714 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3)) 4.714 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.714 * [backup-simplify]: Simplify (+ 0) into 0 4.715 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.715 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.715 * [backup-simplify]: Simplify (+ 0 0) into 0 4.715 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0 4.716 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0 4.716 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0 4.716 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0 4.716 * [taylor]: Taking taylor expansion of (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))) in phi1 4.716 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.716 * [backup-simplify]: Simplify 0.5 into 0.5 4.716 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1 4.716 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) in phi1 4.716 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 3) in phi1 4.716 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.716 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.716 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.716 * [backup-simplify]: Simplify 0.5 into 0.5 4.716 * [taylor]: Taking taylor expansion of phi1 in phi1 4.716 * [backup-simplify]: Simplify 0 into 0 4.716 * [backup-simplify]: Simplify 1 into 1 4.716 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.717 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.717 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 3)) in phi1 4.717 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.717 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.717 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.717 * [backup-simplify]: Simplify 0.5 into 0.5 4.717 * [taylor]: Taking taylor expansion of phi1 in phi1 4.717 * [backup-simplify]: Simplify 0 into 0 4.717 * [backup-simplify]: Simplify 1 into 1 4.718 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.719 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.719 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1 4.719 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.719 * [backup-simplify]: Simplify lambda1 into lambda1 4.719 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1 4.719 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1 4.719 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1 4.719 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.719 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.719 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.719 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.719 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.719 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.719 * [backup-simplify]: Simplify 0.5 into 0.5 4.719 * [taylor]: Taking taylor expansion of phi1 in phi1 4.719 * [backup-simplify]: Simplify 0 into 0 4.719 * [backup-simplify]: Simplify 1 into 1 4.719 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.720 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.720 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.720 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.720 * [backup-simplify]: Simplify lambda1 into lambda1 4.720 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.720 * [taylor]: Taking taylor expansion of phi1 in phi1 4.720 * [backup-simplify]: Simplify 0 into 0 4.720 * [backup-simplify]: Simplify 1 into 1 4.720 * [backup-simplify]: Simplify (* 1 1) into 1 4.721 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.721 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.721 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.721 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 4.721 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6) 4.721 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6)) 4.721 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3)) 4.721 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.722 * [backup-simplify]: Simplify (+ 0) into 0 4.722 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.722 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.723 * [backup-simplify]: Simplify (+ 0 0) into 0 4.723 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0 4.723 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0 4.723 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0 4.723 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0 4.723 * [backup-simplify]: Simplify (* 0 lambda1) into 0 4.723 * [backup-simplify]: Simplify (* 1 0) into 0 4.724 * [backup-simplify]: Simplify (* 0 (/ 1 lambda1)) into 0 4.724 * [backup-simplify]: Simplify (* 1.0 0) into 0 4.724 * [backup-simplify]: Simplify (* 1 1) into 1 4.724 * [backup-simplify]: Simplify (* lambda1 0) into 0 4.724 * [backup-simplify]: Simplify (* 1 0) into 0 4.725 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0 4.725 * [backup-simplify]: Simplify (* 1 1) into 1 4.725 * [backup-simplify]: Simplify (* 1 1) into 1 4.725 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.725 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 4.725 * [backup-simplify]: Simplify (* 0 (pow lambda1 3)) into 0 4.725 * [backup-simplify]: Simplify (* 1 0) into 0 4.726 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0 4.726 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.726 * [backup-simplify]: Simplify (+ 0 0) into 0 4.726 * [backup-simplify]: Simplify (- 0) into 0 4.727 * [backup-simplify]: Simplify (+ 0 0) into 0 4.727 * [taylor]: Taking taylor expansion of 0 in lambda1 4.727 * [backup-simplify]: Simplify 0 into 0 4.727 * [backup-simplify]: Simplify 0 into 0 4.727 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 4.727 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 4.729 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 4.730 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 4.730 * [backup-simplify]: Simplify (+ 0 0) into 0 4.731 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 4.731 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.732 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 4.732 * [backup-simplify]: Simplify (- 0) into 0 4.732 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 4.732 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 4.733 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 4.733 * [backup-simplify]: Simplify (* 1 1) into 1 4.734 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 1) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 4.735 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 4.735 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 4.736 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 4.736 * [backup-simplify]: Simplify (- 0) into 0 4.736 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 0) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 4.738 * [backup-simplify]: Simplify (/ (- (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (pow (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) 2) (+)) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) 4.739 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 4.739 * [taylor]: Taking taylor expansion of 1/2 in phi1 4.739 * [backup-simplify]: Simplify 1/2 into 1/2 4.739 * [taylor]: Taking taylor expansion of (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 4.739 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) in phi1 4.739 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) in phi1 4.739 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 4.739 * [taylor]: Taking taylor expansion of 0.25 in phi1 4.739 * [backup-simplify]: Simplify 0.25 into 0.25 4.739 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.739 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 4.739 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.739 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.739 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.739 * [backup-simplify]: Simplify 0.5 into 0.5 4.739 * [taylor]: Taking taylor expansion of phi1 in phi1 4.739 * [backup-simplify]: Simplify 0 into 0 4.739 * [backup-simplify]: Simplify 1 into 1 4.739 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.740 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.742 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.742 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.742 * [backup-simplify]: Simplify lambda1 into lambda1 4.742 * [taylor]: Taking taylor expansion of 1 in phi1 4.742 * [backup-simplify]: Simplify 1 into 1 4.742 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) in phi1 4.742 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.742 * [taylor]: Taking taylor expansion of 1.0 in phi1 4.742 * [backup-simplify]: Simplify 1.0 into 1.0 4.742 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.742 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1 4.742 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.742 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.742 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.742 * [backup-simplify]: Simplify 0.5 into 0.5 4.742 * [taylor]: Taking taylor expansion of phi1 in phi1 4.742 * [backup-simplify]: Simplify 0 into 0 4.742 * [backup-simplify]: Simplify 1 into 1 4.742 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.743 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.743 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1 4.743 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.743 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.743 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.743 * [backup-simplify]: Simplify 0.5 into 0.5 4.743 * [taylor]: Taking taylor expansion of phi1 in phi1 4.743 * [backup-simplify]: Simplify 0 into 0 4.743 * [backup-simplify]: Simplify 1 into 1 4.743 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.744 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.744 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 4.744 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.744 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.744 * [backup-simplify]: Simplify lambda1 into lambda1 4.744 * [taylor]: Taking taylor expansion of phi1 in phi1 4.744 * [backup-simplify]: Simplify 0 into 0 4.744 * [backup-simplify]: Simplify 1 into 1 4.744 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.744 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.745 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.745 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.745 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.745 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.745 * [backup-simplify]: Simplify 0.5 into 0.5 4.745 * [taylor]: Taking taylor expansion of phi1 in phi1 4.745 * [backup-simplify]: Simplify 0 into 0 4.745 * [backup-simplify]: Simplify 1 into 1 4.745 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.746 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.746 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.746 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.746 * [backup-simplify]: Simplify lambda1 into lambda1 4.746 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.746 * [taylor]: Taking taylor expansion of phi1 in phi1 4.746 * [backup-simplify]: Simplify 0 into 0 4.746 * [backup-simplify]: Simplify 1 into 1 4.746 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.746 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 4.746 * [backup-simplify]: Simplify (* 0 0) into 0 4.747 * [backup-simplify]: Simplify (* 1 0) into 0 4.747 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.747 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 4.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.749 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0 4.749 * [backup-simplify]: Simplify (+ 0) into 0 4.750 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 4.750 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 4.751 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0 4.751 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 4.752 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.752 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2)) 4.754 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 4.754 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2)) 4.755 * [backup-simplify]: Simplify (* 1 1) into 1 4.755 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.755 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.755 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.755 * [backup-simplify]: Simplify (/ (* 0.5 (pow lambda1 2)) (pow lambda1 2)) into 0.5 4.755 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1 4.755 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 4.755 * [taylor]: Taking taylor expansion of 0.25 in phi1 4.755 * [backup-simplify]: Simplify 0.25 into 0.25 4.755 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.755 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.755 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.755 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.755 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.755 * [backup-simplify]: Simplify 0.5 into 0.5 4.755 * [taylor]: Taking taylor expansion of phi1 in phi1 4.755 * [backup-simplify]: Simplify 0 into 0 4.755 * [backup-simplify]: Simplify 1 into 1 4.756 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.756 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.757 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.757 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.757 * [backup-simplify]: Simplify lambda1 into lambda1 4.757 * [taylor]: Taking taylor expansion of (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1 4.757 * [taylor]: Taking taylor expansion of (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.757 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.757 * [taylor]: Taking taylor expansion of phi1 in phi1 4.757 * [backup-simplify]: Simplify 0 into 0 4.757 * [backup-simplify]: Simplify 1 into 1 4.757 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.757 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.757 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.757 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.757 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.757 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.757 * [backup-simplify]: Simplify 0.5 into 0.5 4.757 * [taylor]: Taking taylor expansion of phi1 in phi1 4.757 * [backup-simplify]: Simplify 0 into 0 4.757 * [backup-simplify]: Simplify 1 into 1 4.757 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.758 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.758 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.758 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.758 * [backup-simplify]: Simplify lambda1 into lambda1 4.758 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.758 * [taylor]: Taking taylor expansion of phi1 in phi1 4.758 * [backup-simplify]: Simplify 0 into 0 4.758 * [backup-simplify]: Simplify 1 into 1 4.758 * [backup-simplify]: Simplify (* 1 1) into 1 4.759 * [backup-simplify]: Simplify (* 1 1) into 1 4.759 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.759 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.759 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.759 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 4.759 * [taylor]: Taking taylor expansion of (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.759 * [taylor]: Taking taylor expansion of 0.25 in phi1 4.759 * [backup-simplify]: Simplify 0.25 into 0.25 4.759 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.759 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1 4.759 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.759 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.759 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.759 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.759 * [backup-simplify]: Simplify 0.5 into 0.5 4.759 * [taylor]: Taking taylor expansion of phi1 in phi1 4.759 * [backup-simplify]: Simplify 0 into 0 4.759 * [backup-simplify]: Simplify 1 into 1 4.759 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.760 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.760 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1 4.760 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 4.760 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 4.760 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.760 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.760 * [backup-simplify]: Simplify 0.5 into 0.5 4.760 * [taylor]: Taking taylor expansion of phi1 in phi1 4.760 * [backup-simplify]: Simplify 0 into 0 4.760 * [backup-simplify]: Simplify 1 into 1 4.765 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.767 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.768 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1 4.768 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.768 * [backup-simplify]: Simplify lambda1 into lambda1 4.768 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.768 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.768 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.768 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.768 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.768 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.768 * [backup-simplify]: Simplify 0.5 into 0.5 4.768 * [taylor]: Taking taylor expansion of phi1 in phi1 4.768 * [backup-simplify]: Simplify 0 into 0 4.768 * [backup-simplify]: Simplify 1 into 1 4.769 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.770 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.770 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.770 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.770 * [backup-simplify]: Simplify lambda1 into lambda1 4.770 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.770 * [taylor]: Taking taylor expansion of phi1 in phi1 4.770 * [backup-simplify]: Simplify 0 into 0 4.770 * [backup-simplify]: Simplify 1 into 1 4.770 * [backup-simplify]: Simplify (* 1 1) into 1 4.770 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 4.770 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.770 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 4.770 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4)) 4.771 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4)) 4.771 * [backup-simplify]: Simplify (* 1 1) into 1 4.771 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.771 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.771 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.771 * [backup-simplify]: Simplify (/ (* 0.25 (pow lambda1 4)) (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 4.771 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1 4.771 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 4.771 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 4.771 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 4.771 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 4.771 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 4.771 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 4.771 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.771 * [backup-simplify]: Simplify 0.5 into 0.5 4.771 * [taylor]: Taking taylor expansion of phi1 in phi1 4.771 * [backup-simplify]: Simplify 0 into 0 4.771 * [backup-simplify]: Simplify 1 into 1 4.772 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.773 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.773 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.773 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.773 * [backup-simplify]: Simplify lambda1 into lambda1 4.773 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.773 * [taylor]: Taking taylor expansion of phi1 in phi1 4.773 * [backup-simplify]: Simplify 0 into 0 4.773 * [backup-simplify]: Simplify 1 into 1 4.773 * [backup-simplify]: Simplify (* 1 1) into 1 4.773 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.773 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.773 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 4.773 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 4.774 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 4.774 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.774 * [backup-simplify]: Simplify (+ 0) into 0 4.774 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.775 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 4.775 * [backup-simplify]: Simplify (+ 0 0) into 0 4.775 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 4.775 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0 4.775 * [backup-simplify]: Simplify (+ 0 1) into 1 4.776 * [backup-simplify]: Simplify (* 1 1) into 1 4.776 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.776 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 4.776 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 4.776 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 4.776 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 4.776 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2))) 4.776 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda1 2)))) into (- 1 (* 0.25 (pow lambda1 2))) 4.776 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda1 2))) (/ 1 lambda1)) into (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) 4.777 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) 4.777 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1 4.777 * [taylor]: Taking taylor expansion of 1/2 in lambda1 4.777 * [backup-simplify]: Simplify 1/2 into 1/2 4.777 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1 4.777 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1 4.777 * [taylor]: Taking taylor expansion of 1 in lambda1 4.777 * [backup-simplify]: Simplify 1 into 1 4.777 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 4.777 * [taylor]: Taking taylor expansion of 0.25 in lambda1 4.777 * [backup-simplify]: Simplify 0.25 into 0.25 4.777 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.777 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.777 * [backup-simplify]: Simplify 0 into 0 4.777 * [backup-simplify]: Simplify 1 into 1 4.777 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.777 * [backup-simplify]: Simplify 0 into 0 4.777 * [backup-simplify]: Simplify 1 into 1 4.777 * [backup-simplify]: Simplify (+ 1 0) into 1 4.777 * [backup-simplify]: Simplify (/ 1 1) into 1 4.778 * [backup-simplify]: Simplify (+ 0 0) into 0 4.778 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.778 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 4.779 * [backup-simplify]: Simplify 0 into 0 4.779 * [backup-simplify]: Simplify (+ 0) into 0 4.779 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.779 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0 4.780 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (/ 1 lambda1))) into 0 4.780 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 1)) into 0 4.780 * [taylor]: Taking taylor expansion of 0 in lambda1 4.780 * [backup-simplify]: Simplify 0 into 0 4.780 * [backup-simplify]: Simplify 0 into 0 4.780 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 4.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.782 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 4.782 * [backup-simplify]: Simplify (+ 0) into 0 4.783 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 4.783 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 4.783 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 4.783 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) 2) into (+ (* 0.5 (pow lambda1 2)) 2) 4.784 * [backup-simplify]: Simplify (+ (* (/ 1 lambda1) (+ (* 0.5 (pow lambda1 2)) 2)) (* 0 0)) into (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1)) 4.784 * [backup-simplify]: Simplify (+ (* -1/2 (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))) (* 0 0)) into (- (+ (/ 1 lambda1) (* 0.25 lambda1))) 4.784 * [taylor]: Taking taylor expansion of (- (+ (/ 1 lambda1) (* 0.25 lambda1))) in lambda1 4.784 * [taylor]: Taking taylor expansion of (+ (/ 1 lambda1) (* 0.25 lambda1)) in lambda1 4.784 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.784 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.784 * [backup-simplify]: Simplify 0 into 0 4.784 * [backup-simplify]: Simplify 1 into 1 4.785 * [backup-simplify]: Simplify (/ 1 1) into 1 4.785 * [taylor]: Taking taylor expansion of (* 0.25 lambda1) in lambda1 4.785 * [taylor]: Taking taylor expansion of 0.25 in lambda1 4.785 * [backup-simplify]: Simplify 0.25 into 0.25 4.785 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.785 * [backup-simplify]: Simplify 0 into 0 4.785 * [backup-simplify]: Simplify 1 into 1 4.785 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.785 * [backup-simplify]: Simplify (* 0.25 0) into 0 4.786 * [backup-simplify]: Simplify (+ 0 0) into 0 4.786 * [backup-simplify]: Simplify (- 0) into 0 4.786 * [backup-simplify]: Simplify 0 into 0 4.786 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 4.788 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 4.790 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 4.791 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 4.791 * [backup-simplify]: Simplify (* 1 1) into 1 4.792 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2))) 4.792 * [backup-simplify]: Simplify (/ (- (- 1 (* 0.25 (pow lambda1 2))) (pow 0 2) (+)) (* 2 lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) 4.793 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1 4.793 * [taylor]: Taking taylor expansion of 1/2 in lambda1 4.793 * [backup-simplify]: Simplify 1/2 into 1/2 4.793 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1 4.793 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1 4.793 * [taylor]: Taking taylor expansion of 1 in lambda1 4.793 * [backup-simplify]: Simplify 1 into 1 4.793 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 4.793 * [taylor]: Taking taylor expansion of 0.25 in lambda1 4.793 * [backup-simplify]: Simplify 0.25 into 0.25 4.793 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.793 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.793 * [backup-simplify]: Simplify 0 into 0 4.793 * [backup-simplify]: Simplify 1 into 1 4.793 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.793 * [backup-simplify]: Simplify 0 into 0 4.793 * [backup-simplify]: Simplify 1 into 1 4.793 * [backup-simplify]: Simplify (+ 1 0) into 1 4.793 * [backup-simplify]: Simplify (/ 1 1) into 1 4.794 * [backup-simplify]: Simplify (+ 0 0) into 0 4.794 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 4.794 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 4.794 * [backup-simplify]: Simplify 0 into 0 4.795 * [backup-simplify]: Simplify (+ (* 1 (* lambda1 (* 1 (* 1 1)))) (* -1 (* 1 (* 1 (* 1 lambda2))))) into (- lambda1 lambda2) 4.797 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 lambda2) 2) (pow (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5)))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) 4.797 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in (lambda2 phi2 phi1 lambda1) around 0 4.797 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda1 4.797 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda1 4.797 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda1 4.798 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 4.798 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 4.798 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 4.798 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 4.798 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 4.798 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.798 * [backup-simplify]: Simplify 0.5 into 0.5 4.798 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.798 * [backup-simplify]: Simplify phi1 into phi1 4.798 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.798 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.798 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.798 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.798 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 4.798 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 4.798 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 4.798 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.798 * [backup-simplify]: Simplify 0.5 into 0.5 4.798 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.798 * [backup-simplify]: Simplify phi2 into phi2 4.798 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.798 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.798 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.799 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.799 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.799 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.799 * [backup-simplify]: Simplify lambda2 into lambda2 4.799 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.799 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.799 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.799 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.799 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 4.799 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda1 4.799 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 4.799 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 4.799 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.799 * [backup-simplify]: Simplify phi2 into phi2 4.799 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.800 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.800 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda1 4.800 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 4.800 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 4.800 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.800 * [backup-simplify]: Simplify phi1 into phi1 4.800 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.800 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.800 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda1 4.800 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 4.800 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 4.800 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 4.800 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 4.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 4.800 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.800 * [backup-simplify]: Simplify 0.5 into 0.5 4.800 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.800 * [backup-simplify]: Simplify phi1 into phi1 4.800 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.800 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.800 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.801 * [backup-simplify]: Simplify (- 0) into 0 4.801 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.801 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 4.801 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 4.801 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 4.801 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.801 * [backup-simplify]: Simplify 0.5 into 0.5 4.801 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.801 * [backup-simplify]: Simplify phi2 into phi2 4.801 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.801 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.801 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.801 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.801 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.801 * [backup-simplify]: Simplify (- 0) into 0 4.801 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.801 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.801 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.801 * [backup-simplify]: Simplify lambda2 into lambda2 4.801 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.802 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.802 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.802 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.802 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 4.802 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 4.802 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.802 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.802 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.802 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.802 * [backup-simplify]: Simplify 0.5 into 0.5 4.802 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.802 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.802 * [backup-simplify]: Simplify phi1 into phi1 4.802 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.802 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.802 * [backup-simplify]: Simplify phi2 into phi2 4.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.802 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.803 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.803 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.803 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.803 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.803 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.803 * [backup-simplify]: Simplify (- 0) into 0 4.803 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.803 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 4.803 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.803 * [backup-simplify]: Simplify 0 into 0 4.803 * [backup-simplify]: Simplify 1 into 1 4.804 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.804 * [backup-simplify]: Simplify (* 1 1) into 1 4.804 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.804 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda1 4.804 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 4.804 * [taylor]: Taking taylor expansion of 2 in lambda1 4.804 * [backup-simplify]: Simplify 2 into 2 4.804 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 4.804 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 4.804 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.804 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.804 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.804 * [backup-simplify]: Simplify 0.5 into 0.5 4.804 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.804 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.804 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.804 * [backup-simplify]: Simplify phi1 into phi1 4.804 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.804 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.804 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.804 * [backup-simplify]: Simplify phi2 into phi2 4.804 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.805 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.805 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.805 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.805 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.805 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.805 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.805 * [backup-simplify]: Simplify (- 0) into 0 4.805 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.805 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 4.805 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.805 * [backup-simplify]: Simplify lambda2 into lambda2 4.805 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.805 * [backup-simplify]: Simplify 0 into 0 4.805 * [backup-simplify]: Simplify 1 into 1 4.806 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.806 * [backup-simplify]: Simplify (* lambda2 0) into 0 4.806 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 4.806 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 4.806 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda1 4.806 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 4.806 * [taylor]: Taking taylor expansion of 2 in lambda1 4.806 * [backup-simplify]: Simplify 2 into 2 4.806 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 4.806 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 4.806 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.806 * [backup-simplify]: Simplify phi2 into phi2 4.806 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.806 * [backup-simplify]: Simplify phi1 into phi1 4.806 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.806 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.806 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1 4.806 * [taylor]: Taking taylor expansion of 2 in lambda1 4.806 * [backup-simplify]: Simplify 2 into 2 4.806 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1 4.807 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 4.807 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 4.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 4.807 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.807 * [backup-simplify]: Simplify 0.5 into 0.5 4.807 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.807 * [backup-simplify]: Simplify phi1 into phi1 4.807 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.807 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.807 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.807 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 4.807 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 4.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 4.807 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.807 * [backup-simplify]: Simplify 0.5 into 0.5 4.807 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.807 * [backup-simplify]: Simplify phi1 into phi1 4.807 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.807 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.807 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.807 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 4.807 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 4.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 4.807 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.807 * [backup-simplify]: Simplify 0.5 into 0.5 4.807 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.807 * [backup-simplify]: Simplify phi2 into phi2 4.807 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.807 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.807 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.807 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 4.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 4.807 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.807 * [backup-simplify]: Simplify 0.5 into 0.5 4.807 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.807 * [backup-simplify]: Simplify phi2 into phi2 4.807 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.807 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.807 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.808 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 4.808 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.808 * [backup-simplify]: Simplify lambda2 into lambda2 4.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.808 * [backup-simplify]: Simplify (- 0) into 0 4.808 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.808 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.808 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.809 * [backup-simplify]: Simplify (- 0) into 0 4.809 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.809 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.809 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.809 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.809 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.810 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 4.810 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.810 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.810 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.810 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.810 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.811 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.811 * [backup-simplify]: Simplify (+ 0) into 0 4.811 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.811 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.811 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.812 * [backup-simplify]: Simplify (+ 0 0) into 0 4.812 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.813 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.813 * [backup-simplify]: Simplify (- 0) into 0 4.813 * [backup-simplify]: Simplify (+ 0 0) into 0 4.814 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.814 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.815 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 4.815 * [backup-simplify]: Simplify (+ 0 0) into 0 4.815 * [backup-simplify]: Simplify (+ 0 0) into 0 4.815 * [backup-simplify]: Simplify (+ 0 0) into 0 4.816 * [backup-simplify]: Simplify (+ 0 0) into 0 4.816 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.816 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 4.816 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.817 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.817 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.817 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in phi1 4.817 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi1 4.817 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in phi1 4.817 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 4.817 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 4.817 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 4.817 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 4.817 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.817 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.817 * [backup-simplify]: Simplify 0.5 into 0.5 4.818 * [taylor]: Taking taylor expansion of phi1 in phi1 4.818 * [backup-simplify]: Simplify 0 into 0 4.818 * [backup-simplify]: Simplify 1 into 1 4.818 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.818 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.818 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 4.818 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 4.818 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.818 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.818 * [backup-simplify]: Simplify 0.5 into 0.5 4.818 * [taylor]: Taking taylor expansion of phi2 in phi1 4.818 * [backup-simplify]: Simplify phi2 into phi2 4.818 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.818 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.818 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.818 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.818 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.818 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.818 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.818 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.819 * [backup-simplify]: Simplify lambda2 into lambda2 4.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.819 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.819 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.819 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.819 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 4.819 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in phi1 4.819 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 4.819 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.819 * [taylor]: Taking taylor expansion of phi2 in phi1 4.819 * [backup-simplify]: Simplify phi2 into phi2 4.819 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.819 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.819 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi1 4.819 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 4.819 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.820 * [taylor]: Taking taylor expansion of phi1 in phi1 4.820 * [backup-simplify]: Simplify 0 into 0 4.820 * [backup-simplify]: Simplify 1 into 1 4.820 * [backup-simplify]: Simplify (* 1 1) into 1 4.820 * [backup-simplify]: Simplify (/ 1 1) into 1 4.820 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi1 4.820 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 4.820 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 4.820 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 4.820 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 4.820 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.820 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.820 * [backup-simplify]: Simplify 0.5 into 0.5 4.820 * [taylor]: Taking taylor expansion of phi1 in phi1 4.820 * [backup-simplify]: Simplify 0 into 0 4.820 * [backup-simplify]: Simplify 1 into 1 4.821 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.821 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.821 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 4.821 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 4.821 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.821 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.821 * [backup-simplify]: Simplify 0.5 into 0.5 4.821 * [taylor]: Taking taylor expansion of phi2 in phi1 4.821 * [backup-simplify]: Simplify phi2 into phi2 4.821 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.821 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.821 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.821 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.821 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.821 * [backup-simplify]: Simplify (- 0) into 0 4.821 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.821 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.821 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.821 * [backup-simplify]: Simplify lambda2 into lambda2 4.822 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.822 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.822 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.822 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.822 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 4.822 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 4.822 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.822 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.822 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.822 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.822 * [backup-simplify]: Simplify 0.5 into 0.5 4.822 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.822 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.822 * [taylor]: Taking taylor expansion of phi1 in phi1 4.822 * [backup-simplify]: Simplify 0 into 0 4.822 * [backup-simplify]: Simplify 1 into 1 4.823 * [backup-simplify]: Simplify (/ 1 1) into 1 4.823 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.823 * [taylor]: Taking taylor expansion of phi2 in phi1 4.823 * [backup-simplify]: Simplify phi2 into phi2 4.823 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.823 * [backup-simplify]: Simplify (+ 1 0) into 1 4.823 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.823 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.823 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 4.823 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.823 * [backup-simplify]: Simplify lambda1 into lambda1 4.824 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.824 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.824 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.824 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1 4.824 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 4.824 * [taylor]: Taking taylor expansion of 2 in phi1 4.824 * [backup-simplify]: Simplify 2 into 2 4.824 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 4.824 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 4.824 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.824 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.824 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.824 * [backup-simplify]: Simplify 0.5 into 0.5 4.824 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.824 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.824 * [taylor]: Taking taylor expansion of phi1 in phi1 4.824 * [backup-simplify]: Simplify 0 into 0 4.824 * [backup-simplify]: Simplify 1 into 1 4.824 * [backup-simplify]: Simplify (/ 1 1) into 1 4.824 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.825 * [taylor]: Taking taylor expansion of phi2 in phi1 4.825 * [backup-simplify]: Simplify phi2 into phi2 4.825 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.825 * [backup-simplify]: Simplify (+ 1 0) into 1 4.825 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.825 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.825 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 4.825 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.825 * [backup-simplify]: Simplify lambda2 into lambda2 4.825 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.825 * [backup-simplify]: Simplify lambda1 into lambda1 4.826 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.826 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.826 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.826 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1 4.826 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 4.826 * [taylor]: Taking taylor expansion of 2 in phi1 4.826 * [backup-simplify]: Simplify 2 into 2 4.826 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 4.826 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.826 * [taylor]: Taking taylor expansion of phi2 in phi1 4.826 * [backup-simplify]: Simplify phi2 into phi2 4.826 * [taylor]: Taking taylor expansion of phi1 in phi1 4.826 * [backup-simplify]: Simplify 0 into 0 4.826 * [backup-simplify]: Simplify 1 into 1 4.826 * [backup-simplify]: Simplify (* phi2 0) into 0 4.826 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.826 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.826 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1 4.826 * [taylor]: Taking taylor expansion of 2 in phi1 4.826 * [backup-simplify]: Simplify 2 into 2 4.826 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1 4.826 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 4.826 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 4.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.826 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.827 * [backup-simplify]: Simplify 0.5 into 0.5 4.827 * [taylor]: Taking taylor expansion of phi1 in phi1 4.827 * [backup-simplify]: Simplify 0 into 0 4.827 * [backup-simplify]: Simplify 1 into 1 4.827 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.827 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.827 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 4.827 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 4.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.827 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.827 * [backup-simplify]: Simplify 0.5 into 0.5 4.827 * [taylor]: Taking taylor expansion of phi1 in phi1 4.827 * [backup-simplify]: Simplify 0 into 0 4.827 * [backup-simplify]: Simplify 1 into 1 4.827 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.827 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 4.827 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 4.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.827 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.827 * [backup-simplify]: Simplify 0.5 into 0.5 4.828 * [taylor]: Taking taylor expansion of phi2 in phi1 4.828 * [backup-simplify]: Simplify phi2 into phi2 4.828 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.828 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.828 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.828 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 4.828 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.828 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.828 * [backup-simplify]: Simplify 0.5 into 0.5 4.828 * [taylor]: Taking taylor expansion of phi2 in phi1 4.828 * [backup-simplify]: Simplify phi2 into phi2 4.828 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.828 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.828 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.828 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 4.828 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.828 * [backup-simplify]: Simplify lambda2 into lambda2 4.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.828 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.829 * [backup-simplify]: Simplify (- 0) into 0 4.829 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.829 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.829 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 4.830 * [backup-simplify]: Simplify (+ 1 0) into 1 4.830 * [backup-simplify]: Simplify (+ 0 1) into 1 4.830 * [backup-simplify]: Simplify (+ 0 1) into 1 4.830 * [backup-simplify]: Simplify (+ 1 0) into 1 4.831 * [backup-simplify]: Simplify (sqrt 1) into 1 4.831 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.832 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.832 * [backup-simplify]: Simplify (+ 0 0) into 0 4.832 * [backup-simplify]: Simplify (+ 0 0) into 0 4.832 * [backup-simplify]: Simplify (+ 0 0) into 0 4.832 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 4.832 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 4.832 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 4.832 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 4.833 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.833 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 4.833 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in phi2 4.833 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi2 4.833 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in phi2 4.833 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 4.833 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 4.833 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 4.833 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 4.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.833 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.833 * [backup-simplify]: Simplify 0.5 into 0.5 4.833 * [taylor]: Taking taylor expansion of phi1 in phi2 4.833 * [backup-simplify]: Simplify phi1 into phi1 4.833 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.833 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.834 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.834 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.834 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 4.834 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 4.834 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.834 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.834 * [backup-simplify]: Simplify 0.5 into 0.5 4.834 * [taylor]: Taking taylor expansion of phi2 in phi2 4.834 * [backup-simplify]: Simplify 0 into 0 4.834 * [backup-simplify]: Simplify 1 into 1 4.834 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.834 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.834 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.834 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.834 * [backup-simplify]: Simplify lambda2 into lambda2 4.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.835 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.835 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.835 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 4.835 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in phi2 4.835 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 4.835 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 4.835 * [taylor]: Taking taylor expansion of phi2 in phi2 4.835 * [backup-simplify]: Simplify 0 into 0 4.835 * [backup-simplify]: Simplify 1 into 1 4.835 * [backup-simplify]: Simplify (* 1 1) into 1 4.836 * [backup-simplify]: Simplify (/ 1 1) into 1 4.836 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi2 4.836 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 4.836 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 4.836 * [taylor]: Taking taylor expansion of phi1 in phi2 4.836 * [backup-simplify]: Simplify phi1 into phi1 4.836 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.836 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.836 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi2 4.836 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 4.836 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 4.836 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 4.836 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 4.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.836 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.836 * [backup-simplify]: Simplify 0.5 into 0.5 4.836 * [taylor]: Taking taylor expansion of phi1 in phi2 4.836 * [backup-simplify]: Simplify phi1 into phi1 4.836 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.836 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.837 * [backup-simplify]: Simplify (- 0) into 0 4.837 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.837 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 4.837 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 4.837 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.837 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.837 * [backup-simplify]: Simplify 0.5 into 0.5 4.837 * [taylor]: Taking taylor expansion of phi2 in phi2 4.837 * [backup-simplify]: Simplify 0 into 0 4.837 * [backup-simplify]: Simplify 1 into 1 4.837 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.837 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.837 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.837 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.837 * [backup-simplify]: Simplify lambda2 into lambda2 4.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.838 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.838 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.838 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 4.838 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 4.838 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.838 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.838 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.838 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.838 * [backup-simplify]: Simplify 0.5 into 0.5 4.838 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.838 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.838 * [taylor]: Taking taylor expansion of phi1 in phi2 4.838 * [backup-simplify]: Simplify phi1 into phi1 4.838 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.838 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.838 * [taylor]: Taking taylor expansion of phi2 in phi2 4.838 * [backup-simplify]: Simplify 0 into 0 4.838 * [backup-simplify]: Simplify 1 into 1 4.838 * [backup-simplify]: Simplify (/ 1 1) into 1 4.839 * [backup-simplify]: Simplify (+ 0 1) into 1 4.839 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.839 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.839 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 4.839 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.839 * [backup-simplify]: Simplify lambda1 into lambda1 4.839 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.839 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.840 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.840 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2 4.840 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 4.840 * [taylor]: Taking taylor expansion of 2 in phi2 4.840 * [backup-simplify]: Simplify 2 into 2 4.840 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 4.840 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.840 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.840 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.840 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.840 * [backup-simplify]: Simplify 0.5 into 0.5 4.840 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.840 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.840 * [taylor]: Taking taylor expansion of phi1 in phi2 4.840 * [backup-simplify]: Simplify phi1 into phi1 4.840 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.840 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.840 * [taylor]: Taking taylor expansion of phi2 in phi2 4.840 * [backup-simplify]: Simplify 0 into 0 4.840 * [backup-simplify]: Simplify 1 into 1 4.840 * [backup-simplify]: Simplify (/ 1 1) into 1 4.841 * [backup-simplify]: Simplify (+ 0 1) into 1 4.841 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.841 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.841 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 4.841 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.841 * [backup-simplify]: Simplify lambda2 into lambda2 4.841 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.841 * [backup-simplify]: Simplify lambda1 into lambda1 4.841 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.841 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 4.841 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 4.842 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2 4.842 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 4.842 * [taylor]: Taking taylor expansion of 2 in phi2 4.842 * [backup-simplify]: Simplify 2 into 2 4.842 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 4.842 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 4.842 * [taylor]: Taking taylor expansion of phi2 in phi2 4.842 * [backup-simplify]: Simplify 0 into 0 4.842 * [backup-simplify]: Simplify 1 into 1 4.842 * [taylor]: Taking taylor expansion of phi1 in phi2 4.842 * [backup-simplify]: Simplify phi1 into phi1 4.842 * [backup-simplify]: Simplify (* 0 phi1) into 0 4.842 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 4.842 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.842 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2 4.842 * [taylor]: Taking taylor expansion of 2 in phi2 4.842 * [backup-simplify]: Simplify 2 into 2 4.842 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2 4.842 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 4.842 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 4.842 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.842 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.842 * [backup-simplify]: Simplify 0.5 into 0.5 4.842 * [taylor]: Taking taylor expansion of phi1 in phi2 4.842 * [backup-simplify]: Simplify phi1 into phi1 4.842 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.842 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.842 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.842 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 4.842 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 4.842 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.842 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.843 * [backup-simplify]: Simplify 0.5 into 0.5 4.843 * [taylor]: Taking taylor expansion of phi1 in phi2 4.843 * [backup-simplify]: Simplify phi1 into phi1 4.843 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.843 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.843 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.843 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 4.843 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 4.843 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.843 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.843 * [backup-simplify]: Simplify 0.5 into 0.5 4.843 * [taylor]: Taking taylor expansion of phi2 in phi2 4.843 * [backup-simplify]: Simplify 0 into 0 4.843 * [backup-simplify]: Simplify 1 into 1 4.843 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.843 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.843 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 4.843 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.843 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.843 * [backup-simplify]: Simplify 0.5 into 0.5 4.843 * [taylor]: Taking taylor expansion of phi2 in phi2 4.843 * [backup-simplify]: Simplify 0 into 0 4.843 * [backup-simplify]: Simplify 1 into 1 4.844 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.844 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.844 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 4.844 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.844 * [backup-simplify]: Simplify lambda2 into lambda2 4.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.844 * [backup-simplify]: Simplify (- 0) into 0 4.844 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.844 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.845 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 4.845 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 4.845 * [backup-simplify]: Simplify (+ 1 0) into 1 4.846 * [backup-simplify]: Simplify (+ 0 1) into 1 4.846 * [backup-simplify]: Simplify (+ 1 0) into 1 4.846 * [backup-simplify]: Simplify (sqrt 1) into 1 4.846 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.847 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.847 * [backup-simplify]: Simplify (+ 0 0) into 0 4.847 * [backup-simplify]: Simplify (+ 0 0) into 0 4.848 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 4.848 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 4.848 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 4.848 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 4.848 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 4.848 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 4.848 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda2 4.848 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda2 4.848 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda2 4.848 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 4.848 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 4.848 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 4.848 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 4.848 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.848 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.848 * [backup-simplify]: Simplify 0.5 into 0.5 4.848 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.848 * [backup-simplify]: Simplify phi1 into phi1 4.849 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.849 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.849 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.849 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.849 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.849 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 4.849 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 4.849 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.849 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.849 * [backup-simplify]: Simplify 0.5 into 0.5 4.849 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.849 * [backup-simplify]: Simplify phi2 into phi2 4.849 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.849 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.849 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.849 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.849 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.849 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.849 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.849 * [backup-simplify]: Simplify 0 into 0 4.849 * [backup-simplify]: Simplify 1 into 1 4.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.850 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.850 * [backup-simplify]: Simplify (* 1 1) into 1 4.850 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.850 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda2 4.850 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.850 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.850 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.850 * [backup-simplify]: Simplify phi2 into phi2 4.850 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.850 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.851 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda2 4.851 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.851 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.851 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.851 * [backup-simplify]: Simplify phi1 into phi1 4.851 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.851 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.851 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda2 4.851 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 4.851 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 4.851 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 4.851 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 4.851 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.851 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.851 * [backup-simplify]: Simplify 0.5 into 0.5 4.851 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.851 * [backup-simplify]: Simplify phi1 into phi1 4.851 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.851 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.851 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.851 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.851 * [backup-simplify]: Simplify (- 0) into 0 4.851 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.852 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 4.852 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 4.852 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.852 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.852 * [backup-simplify]: Simplify 0.5 into 0.5 4.852 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.852 * [backup-simplify]: Simplify phi2 into phi2 4.852 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.852 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.852 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.852 * [backup-simplify]: Simplify (- 0) into 0 4.852 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.852 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.852 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.852 * [backup-simplify]: Simplify 0 into 0 4.852 * [backup-simplify]: Simplify 1 into 1 4.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.853 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.853 * [backup-simplify]: Simplify (* 1 1) into 1 4.853 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.853 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 4.853 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.853 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.853 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.853 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.853 * [backup-simplify]: Simplify 0.5 into 0.5 4.853 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.853 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.853 * [backup-simplify]: Simplify phi1 into phi1 4.853 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.853 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.853 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.853 * [backup-simplify]: Simplify phi2 into phi2 4.853 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.853 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.854 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.854 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.854 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.854 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.854 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.854 * [backup-simplify]: Simplify (- 0) into 0 4.854 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.854 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.854 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.854 * [backup-simplify]: Simplify lambda1 into lambda1 4.855 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.855 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.855 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.855 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 4.855 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 4.855 * [taylor]: Taking taylor expansion of 2 in lambda2 4.855 * [backup-simplify]: Simplify 2 into 2 4.855 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 4.855 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.855 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.855 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.855 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.855 * [backup-simplify]: Simplify 0.5 into 0.5 4.855 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.855 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.855 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.855 * [backup-simplify]: Simplify phi1 into phi1 4.855 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.855 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.855 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.855 * [backup-simplify]: Simplify phi2 into phi2 4.855 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.855 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.855 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.856 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.856 * [backup-simplify]: Simplify (- 0) into 0 4.856 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.856 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 4.856 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.856 * [backup-simplify]: Simplify 0 into 0 4.856 * [backup-simplify]: Simplify 1 into 1 4.856 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.856 * [backup-simplify]: Simplify lambda1 into lambda1 4.857 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.857 * [backup-simplify]: Simplify (* 0 lambda1) into 0 4.857 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 4.857 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 4.857 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 4.857 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.857 * [taylor]: Taking taylor expansion of 2 in lambda2 4.857 * [backup-simplify]: Simplify 2 into 2 4.857 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.857 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.857 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.857 * [backup-simplify]: Simplify phi2 into phi2 4.857 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.857 * [backup-simplify]: Simplify phi1 into phi1 4.857 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.857 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.857 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 4.857 * [taylor]: Taking taylor expansion of 2 in lambda2 4.857 * [backup-simplify]: Simplify 2 into 2 4.858 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 4.858 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 4.858 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 4.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.858 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.858 * [backup-simplify]: Simplify 0.5 into 0.5 4.858 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.858 * [backup-simplify]: Simplify phi1 into phi1 4.858 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.858 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 4.858 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 4.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.858 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.858 * [backup-simplify]: Simplify 0.5 into 0.5 4.858 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.858 * [backup-simplify]: Simplify phi1 into phi1 4.858 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.858 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 4.858 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 4.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.858 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.858 * [backup-simplify]: Simplify 0.5 into 0.5 4.858 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.858 * [backup-simplify]: Simplify phi2 into phi2 4.858 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.858 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.858 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.858 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 4.858 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.859 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.859 * [backup-simplify]: Simplify 0.5 into 0.5 4.859 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.859 * [backup-simplify]: Simplify phi2 into phi2 4.859 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.859 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.859 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.859 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.859 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.859 * [backup-simplify]: Simplify 0 into 0 4.859 * [backup-simplify]: Simplify 1 into 1 4.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.859 * [backup-simplify]: Simplify (- 0) into 0 4.859 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.859 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.860 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.860 * [backup-simplify]: Simplify (- 0) into 0 4.860 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.860 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.860 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.861 * [backup-simplify]: Simplify (* 1 1) into 1 4.861 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.861 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 0) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.861 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.862 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.862 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 4.862 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.863 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.863 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.863 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.864 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.864 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 4.865 * [backup-simplify]: Simplify (+ 0) into 0 4.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.865 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.866 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.866 * [backup-simplify]: Simplify (+ 0 0) into 0 4.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 4.867 * [backup-simplify]: Simplify (+ 0) into 0 4.867 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.868 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.868 * [backup-simplify]: Simplify (+ 0 0) into 0 4.868 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 4.868 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 4.869 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.870 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 4.870 * [backup-simplify]: Simplify (+ 0) into 0 4.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.871 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.871 * [backup-simplify]: Simplify (- 0) into 0 4.876 * [backup-simplify]: Simplify (+ 0 0) into 0 4.876 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.876 * [backup-simplify]: Simplify (+ 0) into 0 4.877 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.877 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.878 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.878 * [backup-simplify]: Simplify (- 0) into 0 4.878 * [backup-simplify]: Simplify (+ 0 0) into 0 4.878 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 4.879 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 4.879 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.880 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 4.880 * [backup-simplify]: Simplify (+ 0 0) into 0 4.880 * [backup-simplify]: Simplify (+ 0 0) into 0 4.881 * [backup-simplify]: Simplify (+ 0 0) into 0 4.881 * [backup-simplify]: Simplify (+ 0 0) into 0 4.881 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.881 * [backup-simplify]: Simplify (+ 0) into 0 4.882 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.882 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.883 * [backup-simplify]: Simplify (- 0) into 0 4.883 * [backup-simplify]: Simplify (+ 0 0) into 0 4.883 * [backup-simplify]: Simplify (+ 0) into 0 4.884 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.884 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.885 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.885 * [backup-simplify]: Simplify (+ 0 0) into 0 4.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.885 * [backup-simplify]: Simplify (+ 0) into 0 4.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.886 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.887 * [backup-simplify]: Simplify (+ 0 0) into 0 4.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 4.887 * [backup-simplify]: Simplify (+ 0) into 0 4.887 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.887 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.888 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.888 * [backup-simplify]: Simplify (- 0) into 0 4.889 * [backup-simplify]: Simplify (+ 0 0) into 0 4.889 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 4.889 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.890 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0 4.890 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 4.891 * [backup-simplify]: Simplify (+ 0 0) into 0 4.891 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.891 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.892 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.893 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.893 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda2 4.893 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda2 4.893 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda2 4.893 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 4.893 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 4.893 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 4.893 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 4.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.893 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.893 * [backup-simplify]: Simplify 0.5 into 0.5 4.893 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.893 * [backup-simplify]: Simplify phi1 into phi1 4.893 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.893 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.893 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.893 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.893 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 4.893 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 4.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.893 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.893 * [backup-simplify]: Simplify 0.5 into 0.5 4.893 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.893 * [backup-simplify]: Simplify phi2 into phi2 4.893 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.893 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.894 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.894 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.894 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.894 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.894 * [backup-simplify]: Simplify 0 into 0 4.894 * [backup-simplify]: Simplify 1 into 1 4.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.894 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.894 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.894 * [backup-simplify]: Simplify (* 1 1) into 1 4.895 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.895 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda2 4.895 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 4.895 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.895 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.895 * [backup-simplify]: Simplify phi2 into phi2 4.895 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.895 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 4.895 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda2 4.895 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 4.895 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.895 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.895 * [backup-simplify]: Simplify phi1 into phi1 4.895 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.895 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 4.895 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda2 4.895 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 4.895 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 4.895 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 4.895 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 4.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.895 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.895 * [backup-simplify]: Simplify 0.5 into 0.5 4.895 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.895 * [backup-simplify]: Simplify phi1 into phi1 4.895 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.896 * [backup-simplify]: Simplify (- 0) into 0 4.896 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.896 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 4.896 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 4.896 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.896 * [backup-simplify]: Simplify 0.5 into 0.5 4.896 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.896 * [backup-simplify]: Simplify phi2 into phi2 4.896 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.896 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.896 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.896 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.896 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.897 * [backup-simplify]: Simplify (- 0) into 0 4.897 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.897 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.897 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.897 * [backup-simplify]: Simplify 0 into 0 4.897 * [backup-simplify]: Simplify 1 into 1 4.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.897 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.898 * [backup-simplify]: Simplify (* 1 1) into 1 4.898 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.898 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 4.898 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.898 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.898 * [backup-simplify]: Simplify 0.5 into 0.5 4.898 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.898 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.898 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.898 * [backup-simplify]: Simplify phi1 into phi1 4.898 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.898 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.898 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.898 * [backup-simplify]: Simplify phi2 into phi2 4.898 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.898 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.898 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.898 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.898 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.899 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.899 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.899 * [backup-simplify]: Simplify (- 0) into 0 4.899 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.899 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 4.899 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.899 * [backup-simplify]: Simplify lambda1 into lambda1 4.899 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.899 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 4.900 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 4.900 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 4.900 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 4.900 * [taylor]: Taking taylor expansion of 2 in lambda2 4.900 * [backup-simplify]: Simplify 2 into 2 4.900 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 4.900 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 4.900 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.900 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.900 * [backup-simplify]: Simplify 0.5 into 0.5 4.900 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.900 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.900 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.900 * [backup-simplify]: Simplify phi1 into phi1 4.900 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.900 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.900 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.900 * [backup-simplify]: Simplify phi2 into phi2 4.900 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.900 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.900 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.900 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.900 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.900 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.900 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.901 * [backup-simplify]: Simplify (- 0) into 0 4.901 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.901 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 4.901 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.901 * [backup-simplify]: Simplify 0 into 0 4.901 * [backup-simplify]: Simplify 1 into 1 4.901 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.901 * [backup-simplify]: Simplify lambda1 into lambda1 4.901 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.901 * [backup-simplify]: Simplify (* 0 lambda1) into 0 4.901 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 4.902 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 4.902 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 4.902 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 4.902 * [taylor]: Taking taylor expansion of 2 in lambda2 4.902 * [backup-simplify]: Simplify 2 into 2 4.902 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 4.902 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.902 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.902 * [backup-simplify]: Simplify phi2 into phi2 4.902 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.902 * [backup-simplify]: Simplify phi1 into phi1 4.902 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.902 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 4.902 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 4.902 * [taylor]: Taking taylor expansion of 2 in lambda2 4.902 * [backup-simplify]: Simplify 2 into 2 4.902 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 4.902 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 4.902 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 4.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.902 * [backup-simplify]: Simplify 0.5 into 0.5 4.902 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.902 * [backup-simplify]: Simplify phi1 into phi1 4.902 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.902 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.902 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 4.902 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 4.902 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 4.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.902 * [backup-simplify]: Simplify 0.5 into 0.5 4.902 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.902 * [backup-simplify]: Simplify phi1 into phi1 4.902 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.902 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.903 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 4.903 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 4.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.903 * [backup-simplify]: Simplify 0.5 into 0.5 4.903 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.903 * [backup-simplify]: Simplify phi2 into phi2 4.903 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.903 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 4.903 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 4.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.903 * [backup-simplify]: Simplify 0.5 into 0.5 4.903 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.903 * [backup-simplify]: Simplify phi2 into phi2 4.903 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.903 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.903 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.903 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.903 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.903 * [backup-simplify]: Simplify 0 into 0 4.903 * [backup-simplify]: Simplify 1 into 1 4.903 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.903 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.903 * [backup-simplify]: Simplify (- 0) into 0 4.904 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.904 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.904 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.904 * [backup-simplify]: Simplify (- 0) into 0 4.904 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.905 * [backup-simplify]: Simplify (* 1 1) into 1 4.905 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.905 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 0) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.906 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.906 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.906 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 4.907 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.907 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.907 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.907 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.908 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.909 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 4.909 * [backup-simplify]: Simplify (+ 0) into 0 4.909 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.910 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.911 * [backup-simplify]: Simplify (+ 0 0) into 0 4.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 4.911 * [backup-simplify]: Simplify (+ 0) into 0 4.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.912 * [backup-simplify]: Simplify (+ 0 0) into 0 4.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 4.913 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 4.913 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.914 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 4.914 * [backup-simplify]: Simplify (+ 0) into 0 4.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.915 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.915 * [backup-simplify]: Simplify (- 0) into 0 4.916 * [backup-simplify]: Simplify (+ 0 0) into 0 4.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.916 * [backup-simplify]: Simplify (+ 0) into 0 4.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.918 * [backup-simplify]: Simplify (- 0) into 0 4.918 * [backup-simplify]: Simplify (+ 0 0) into 0 4.918 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 4.918 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 4.919 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.919 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 4.920 * [backup-simplify]: Simplify (+ 0 0) into 0 4.920 * [backup-simplify]: Simplify (+ 0 0) into 0 4.920 * [backup-simplify]: Simplify (+ 0 0) into 0 4.920 * [backup-simplify]: Simplify (+ 0 0) into 0 4.920 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.921 * [backup-simplify]: Simplify (+ 0) into 0 4.921 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.921 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.922 * [backup-simplify]: Simplify (- 0) into 0 4.922 * [backup-simplify]: Simplify (+ 0 0) into 0 4.923 * [backup-simplify]: Simplify (+ 0) into 0 4.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.924 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.924 * [backup-simplify]: Simplify (+ 0 0) into 0 4.924 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.924 * [backup-simplify]: Simplify (+ 0) into 0 4.925 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.926 * [backup-simplify]: Simplify (+ 0 0) into 0 4.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 4.926 * [backup-simplify]: Simplify (+ 0) into 0 4.927 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.927 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.928 * [backup-simplify]: Simplify (- 0) into 0 4.928 * [backup-simplify]: Simplify (+ 0 0) into 0 4.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 4.929 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 4.929 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0 4.930 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 4.930 * [backup-simplify]: Simplify (+ 0 0) into 0 4.930 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 4.931 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.931 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.932 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.932 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 4.932 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 4.932 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 4.932 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 4.932 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 4.932 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 4.932 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.932 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.932 * [backup-simplify]: Simplify 0.5 into 0.5 4.932 * [taylor]: Taking taylor expansion of phi1 in phi2 4.932 * [backup-simplify]: Simplify phi1 into phi1 4.932 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.932 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.932 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.932 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.932 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.933 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.933 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 4.933 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 4.933 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.933 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.933 * [backup-simplify]: Simplify 0.5 into 0.5 4.933 * [taylor]: Taking taylor expansion of phi2 in phi2 4.933 * [backup-simplify]: Simplify 0 into 0 4.933 * [backup-simplify]: Simplify 1 into 1 4.933 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.933 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.933 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 4.933 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 4.933 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 4.933 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.933 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.933 * [backup-simplify]: Simplify 0.5 into 0.5 4.933 * [taylor]: Taking taylor expansion of phi1 in phi2 4.933 * [backup-simplify]: Simplify phi1 into phi1 4.933 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.933 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.933 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.934 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.934 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.934 * [backup-simplify]: Simplify (- 0) into 0 4.934 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.934 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 4.934 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 4.934 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.934 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.934 * [backup-simplify]: Simplify 0.5 into 0.5 4.934 * [taylor]: Taking taylor expansion of phi2 in phi2 4.934 * [backup-simplify]: Simplify 0 into 0 4.934 * [backup-simplify]: Simplify 1 into 1 4.934 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.934 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.934 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 4.934 * [taylor]: Taking taylor expansion of 2 in phi2 4.934 * [backup-simplify]: Simplify 2 into 2 4.934 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 4.934 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 4.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.935 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.935 * [backup-simplify]: Simplify 0.5 into 0.5 4.935 * [taylor]: Taking taylor expansion of phi1 in phi2 4.935 * [backup-simplify]: Simplify phi1 into phi1 4.935 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.935 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.935 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.935 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 4.935 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 4.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.935 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.935 * [backup-simplify]: Simplify 0.5 into 0.5 4.935 * [taylor]: Taking taylor expansion of phi1 in phi2 4.935 * [backup-simplify]: Simplify phi1 into phi1 4.935 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.935 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.935 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.935 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 4.935 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 4.935 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.935 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.935 * [backup-simplify]: Simplify 0.5 into 0.5 4.935 * [taylor]: Taking taylor expansion of phi2 in phi2 4.935 * [backup-simplify]: Simplify 0 into 0 4.935 * [backup-simplify]: Simplify 1 into 1 4.935 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.935 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.935 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 4.936 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.936 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.936 * [backup-simplify]: Simplify 0.5 into 0.5 4.936 * [taylor]: Taking taylor expansion of phi2 in phi2 4.936 * [backup-simplify]: Simplify 0 into 0 4.936 * [backup-simplify]: Simplify 1 into 1 4.936 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.936 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.936 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.936 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.936 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.936 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.937 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.937 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.937 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 4.937 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.937 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.938 * [backup-simplify]: Simplify (- 0) into 0 4.938 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.938 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.938 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.938 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.938 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.938 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.938 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.938 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.939 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.939 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.940 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 4.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 4.941 * [backup-simplify]: Simplify (+ 0) into 0 4.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.941 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.942 * [backup-simplify]: Simplify (+ 0 0) into 0 4.942 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 4.942 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 4.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.943 * [backup-simplify]: Simplify (+ 0) into 0 4.943 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.944 * [backup-simplify]: Simplify (- 0) into 0 4.945 * [backup-simplify]: Simplify (+ 0 0) into 0 4.945 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 4.945 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 4.945 * [backup-simplify]: Simplify (+ 0 0) into 0 4.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.946 * [backup-simplify]: Simplify (+ 0) into 0 4.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.946 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.947 * [backup-simplify]: Simplify (+ 0 0) into 0 4.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 4.948 * [backup-simplify]: Simplify (+ 0) into 0 4.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.948 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.949 * [backup-simplify]: Simplify (- 0) into 0 4.949 * [backup-simplify]: Simplify (+ 0 0) into 0 4.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 4.950 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 4.950 * [backup-simplify]: Simplify (- 0) into 0 4.951 * [backup-simplify]: Simplify (+ 0 0) into 0 4.951 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 4.951 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2 4.952 * [taylor]: Taking taylor expansion of -1 in phi2 4.952 * [backup-simplify]: Simplify -1 into -1 4.952 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2 4.952 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 4.952 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 4.952 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 4.952 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 4.952 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 4.952 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 4.952 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 4.952 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.952 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.952 * [backup-simplify]: Simplify 0.5 into 0.5 4.952 * [taylor]: Taking taylor expansion of phi1 in phi2 4.952 * [backup-simplify]: Simplify phi1 into phi1 4.952 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.952 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.952 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.952 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.952 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.952 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.952 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 4.952 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 4.952 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.952 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.953 * [backup-simplify]: Simplify 0.5 into 0.5 4.953 * [taylor]: Taking taylor expansion of phi2 in phi2 4.953 * [backup-simplify]: Simplify 0 into 0 4.953 * [backup-simplify]: Simplify 1 into 1 4.953 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.953 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.953 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 4.953 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 4.953 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 4.953 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.953 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.953 * [backup-simplify]: Simplify 0.5 into 0.5 4.953 * [taylor]: Taking taylor expansion of phi1 in phi2 4.953 * [backup-simplify]: Simplify phi1 into phi1 4.953 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.953 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.953 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.953 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.953 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.954 * [backup-simplify]: Simplify (- 0) into 0 4.954 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.954 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 4.954 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 4.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.954 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.954 * [backup-simplify]: Simplify 0.5 into 0.5 4.954 * [taylor]: Taking taylor expansion of phi2 in phi2 4.954 * [backup-simplify]: Simplify 0 into 0 4.954 * [backup-simplify]: Simplify 1 into 1 4.954 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.954 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 4.954 * [taylor]: Taking taylor expansion of 2 in phi2 4.954 * [backup-simplify]: Simplify 2 into 2 4.954 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 4.954 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 4.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.954 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.954 * [backup-simplify]: Simplify 0.5 into 0.5 4.954 * [taylor]: Taking taylor expansion of phi1 in phi2 4.954 * [backup-simplify]: Simplify phi1 into phi1 4.954 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.955 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 4.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 4.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 4.955 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.955 * [backup-simplify]: Simplify 0.5 into 0.5 4.955 * [taylor]: Taking taylor expansion of phi1 in phi2 4.955 * [backup-simplify]: Simplify phi1 into phi1 4.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 4.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.955 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 4.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 4.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.955 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.955 * [backup-simplify]: Simplify 0.5 into 0.5 4.955 * [taylor]: Taking taylor expansion of phi2 in phi2 4.955 * [backup-simplify]: Simplify 0 into 0 4.955 * [backup-simplify]: Simplify 1 into 1 4.955 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.955 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 4.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 4.955 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.955 * [backup-simplify]: Simplify 0.5 into 0.5 4.955 * [taylor]: Taking taylor expansion of phi2 in phi2 4.955 * [backup-simplify]: Simplify 0 into 0 4.955 * [backup-simplify]: Simplify 1 into 1 4.956 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.956 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.956 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.956 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.957 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 4.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 4.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 4.957 * [backup-simplify]: Simplify (- 0) into 0 4.957 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 4.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 4.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 4.958 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 4.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.958 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.958 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.959 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.959 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.960 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 4.961 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 4.961 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 4.961 * [backup-simplify]: Simplify (+ 0) into 0 4.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.962 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.963 * [backup-simplify]: Simplify (+ 0 0) into 0 4.963 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 4.963 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 4.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.964 * [backup-simplify]: Simplify (+ 0) into 0 4.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.964 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.965 * [backup-simplify]: Simplify (- 0) into 0 4.965 * [backup-simplify]: Simplify (+ 0 0) into 0 4.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 4.966 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 4.966 * [backup-simplify]: Simplify (+ 0 0) into 0 4.966 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.966 * [backup-simplify]: Simplify (+ 0) into 0 4.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.968 * [backup-simplify]: Simplify (+ 0 0) into 0 4.968 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 4.968 * [backup-simplify]: Simplify (+ 0) into 0 4.968 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 4.969 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 4.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 4.970 * [backup-simplify]: Simplify (- 0) into 0 4.970 * [backup-simplify]: Simplify (+ 0 0) into 0 4.970 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 4.970 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 4.971 * [backup-simplify]: Simplify (- 0) into 0 4.971 * [backup-simplify]: Simplify (+ 0 0) into 0 4.972 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 4.973 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 4.973 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2 4.973 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 4.973 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.973 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.973 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.973 * [backup-simplify]: Simplify 0.5 into 0.5 4.974 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.974 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.974 * [taylor]: Taking taylor expansion of phi1 in phi2 4.974 * [backup-simplify]: Simplify phi1 into phi1 4.974 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.974 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.974 * [taylor]: Taking taylor expansion of phi2 in phi2 4.974 * [backup-simplify]: Simplify 0 into 0 4.974 * [backup-simplify]: Simplify 1 into 1 4.974 * [backup-simplify]: Simplify (/ 1 1) into 1 4.974 * [backup-simplify]: Simplify (+ 0 1) into 1 4.975 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.975 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.975 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.975 * [backup-simplify]: Simplify lambda1 into lambda1 4.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.975 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 4.975 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 4.975 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 4.975 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 4.975 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 4.975 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 4.975 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 4.975 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.975 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.975 * [backup-simplify]: Simplify 0.5 into 0.5 4.975 * [taylor]: Taking taylor expansion of phi1 in phi1 4.975 * [backup-simplify]: Simplify 0 into 0 4.975 * [backup-simplify]: Simplify 1 into 1 4.976 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.976 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 4.976 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 4.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.976 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.976 * [backup-simplify]: Simplify 0.5 into 0.5 4.976 * [taylor]: Taking taylor expansion of phi2 in phi1 4.976 * [backup-simplify]: Simplify phi2 into phi2 4.976 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.976 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.976 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.976 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.976 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.976 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.976 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 4.976 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 4.976 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 4.976 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.976 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.976 * [backup-simplify]: Simplify 0.5 into 0.5 4.976 * [taylor]: Taking taylor expansion of phi1 in phi1 4.976 * [backup-simplify]: Simplify 0 into 0 4.976 * [backup-simplify]: Simplify 1 into 1 4.977 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.977 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 4.977 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 4.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.977 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.977 * [backup-simplify]: Simplify 0.5 into 0.5 4.977 * [taylor]: Taking taylor expansion of phi2 in phi1 4.977 * [backup-simplify]: Simplify phi2 into phi2 4.977 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.977 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.977 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.977 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.977 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.977 * [backup-simplify]: Simplify (- 0) into 0 4.977 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.977 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 4.977 * [taylor]: Taking taylor expansion of 2 in phi1 4.977 * [backup-simplify]: Simplify 2 into 2 4.977 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 4.977 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 4.977 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.978 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.978 * [backup-simplify]: Simplify 0.5 into 0.5 4.978 * [taylor]: Taking taylor expansion of phi1 in phi1 4.978 * [backup-simplify]: Simplify 0 into 0 4.978 * [backup-simplify]: Simplify 1 into 1 4.978 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 4.978 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 4.978 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 4.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 4.978 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.978 * [backup-simplify]: Simplify 0.5 into 0.5 4.978 * [taylor]: Taking taylor expansion of phi1 in phi1 4.978 * [backup-simplify]: Simplify 0 into 0 4.978 * [backup-simplify]: Simplify 1 into 1 4.978 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 4.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 4.978 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 4.978 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 4.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.978 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.979 * [backup-simplify]: Simplify 0.5 into 0.5 4.979 * [taylor]: Taking taylor expansion of phi2 in phi1 4.979 * [backup-simplify]: Simplify phi2 into phi2 4.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.979 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 4.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 4.979 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.979 * [backup-simplify]: Simplify 0.5 into 0.5 4.979 * [taylor]: Taking taylor expansion of phi2 in phi1 4.979 * [backup-simplify]: Simplify phi2 into phi2 4.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 4.979 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 4.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 4.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 4.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 4.979 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 4.979 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 4.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 4.980 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 4.980 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 4.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 4.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 4.980 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 4.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 4.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 4.985 * [backup-simplify]: Simplify (- 0) into 0 4.986 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 4.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 4.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 4.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 4.986 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 4.986 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.987 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4.988 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 4.989 * [backup-simplify]: Simplify (+ 0) into 0 4.989 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.990 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.990 * [backup-simplify]: Simplify (+ 0 0) into 0 4.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 4.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 4.990 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 4.991 * [backup-simplify]: Simplify (+ 0) into 0 4.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.991 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.992 * [backup-simplify]: Simplify (- 0) into 0 4.992 * [backup-simplify]: Simplify (+ 0 0) into 0 4.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 4.993 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 4.993 * [backup-simplify]: Simplify (+ 0 0) into 0 4.993 * [backup-simplify]: Simplify (+ 0) into 0 4.994 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.995 * [backup-simplify]: Simplify (- 0) into 0 4.995 * [backup-simplify]: Simplify (+ 0 0) into 0 4.995 * [backup-simplify]: Simplify (+ 0) into 0 4.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 4.996 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 4.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 4.997 * [backup-simplify]: Simplify (+ 0 0) into 0 4.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 4.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 4.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 4.998 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 4.998 * [backup-simplify]: Simplify (- 0) into 0 4.998 * [backup-simplify]: Simplify (+ 0 0) into 0 4.999 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 5.000 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 5.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.001 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 5.001 * [backup-simplify]: Simplify (+ 0 0) into 0 5.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 5.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.003 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.004 * [backup-simplify]: Simplify (+ 0 0) into 0 5.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 5.005 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 5.005 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.006 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.007 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 5.007 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 5.008 * [backup-simplify]: Simplify (- 0) into 0 5.009 * [backup-simplify]: Simplify (+ 0 0) into 0 5.009 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 5.010 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.011 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.011 * [backup-simplify]: Simplify (- 0) into 0 5.011 * [backup-simplify]: Simplify (+ 0 0) into 0 5.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 5.012 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 5.013 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.014 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.014 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.015 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 5.015 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) 5.016 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) 5.016 * [backup-simplify]: Simplify (+ 0) into 0 5.016 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.017 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.017 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.017 * [backup-simplify]: Simplify (+ 0 0) into 0 5.017 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.018 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.018 * [backup-simplify]: Simplify (- 0) into 0 5.019 * [backup-simplify]: Simplify (+ 0 0) into 0 5.019 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.019 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 5.020 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 5.020 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 5.020 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.021 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.021 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 5.021 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.022 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.022 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 5.022 * [backup-simplify]: Simplify (- 0) into 0 5.023 * [backup-simplify]: Simplify (+ 0 0) into 0 5.023 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 5.024 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.025 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 5.025 * [backup-simplify]: Simplify (+ 0 0) into 0 5.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 5.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.026 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.028 * [backup-simplify]: Simplify (+ 0 0) into 0 5.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.029 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.029 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.030 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.030 * [backup-simplify]: Simplify (- 0) into 0 5.030 * [backup-simplify]: Simplify (+ 0 0) into 0 5.031 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.031 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.032 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.033 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 5.033 * [backup-simplify]: Simplify (+ (/ 2 (* phi2 phi1)) 0) into (* 2 (/ 1 (* phi2 phi1))) 5.033 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 (* phi2 phi1)))) into (* 2 (/ 1 (* phi2 phi1))) 5.033 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.034 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 5.037 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.037 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 5.037 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.037 * [backup-simplify]: Simplify 1/2 into 1/2 5.037 * [taylor]: Taking taylor expansion of (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 5.037 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 5.037 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi2 5.037 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 5.037 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.037 * [taylor]: Taking taylor expansion of phi2 in phi2 5.037 * [backup-simplify]: Simplify 0 into 0 5.037 * [backup-simplify]: Simplify 1 into 1 5.038 * [backup-simplify]: Simplify (* 1 1) into 1 5.038 * [backup-simplify]: Simplify (/ 1 1) into 1 5.038 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi2 5.038 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 5.038 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.038 * [taylor]: Taking taylor expansion of phi1 in phi2 5.038 * [backup-simplify]: Simplify phi1 into phi1 5.038 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.038 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.038 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 5.038 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.038 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.038 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.038 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.038 * [backup-simplify]: Simplify 0.5 into 0.5 5.038 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.038 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.038 * [taylor]: Taking taylor expansion of phi1 in phi2 5.038 * [backup-simplify]: Simplify phi1 into phi1 5.038 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.038 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.038 * [taylor]: Taking taylor expansion of phi2 in phi2 5.038 * [backup-simplify]: Simplify 0 into 0 5.038 * [backup-simplify]: Simplify 1 into 1 5.039 * [backup-simplify]: Simplify (/ 1 1) into 1 5.039 * [backup-simplify]: Simplify (+ 0 1) into 1 5.039 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.039 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.039 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.039 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.039 * [backup-simplify]: Simplify lambda1 into lambda1 5.040 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.040 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.040 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.040 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 5.040 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 5.040 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2 5.040 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.040 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.040 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.040 * [backup-simplify]: Simplify 0.5 into 0.5 5.040 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.040 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.040 * [taylor]: Taking taylor expansion of phi1 in phi2 5.040 * [backup-simplify]: Simplify phi1 into phi1 5.040 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.040 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.040 * [taylor]: Taking taylor expansion of phi2 in phi2 5.040 * [backup-simplify]: Simplify 0 into 0 5.040 * [backup-simplify]: Simplify 1 into 1 5.040 * [backup-simplify]: Simplify (/ 1 1) into 1 5.041 * [backup-simplify]: Simplify (+ 0 1) into 1 5.041 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.041 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.041 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 5.041 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.041 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.041 * [backup-simplify]: Simplify lambda1 into lambda1 5.041 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.041 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.041 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.041 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.041 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.041 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.041 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.041 * [backup-simplify]: Simplify 0.5 into 0.5 5.041 * [taylor]: Taking taylor expansion of phi1 in phi2 5.041 * [backup-simplify]: Simplify phi1 into phi1 5.041 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.041 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.041 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.042 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.042 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.042 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.042 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.042 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.042 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.042 * [backup-simplify]: Simplify 0.5 into 0.5 5.042 * [taylor]: Taking taylor expansion of phi2 in phi2 5.042 * [backup-simplify]: Simplify 0 into 0 5.042 * [backup-simplify]: Simplify 1 into 1 5.042 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.042 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.042 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.042 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.042 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.042 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.042 * [backup-simplify]: Simplify 0.5 into 0.5 5.042 * [taylor]: Taking taylor expansion of phi1 in phi2 5.042 * [backup-simplify]: Simplify phi1 into phi1 5.042 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.042 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.043 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.043 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.043 * [backup-simplify]: Simplify (- 0) into 0 5.043 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.043 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.043 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.043 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.043 * [backup-simplify]: Simplify 0.5 into 0.5 5.043 * [taylor]: Taking taylor expansion of phi2 in phi2 5.043 * [backup-simplify]: Simplify 0 into 0 5.043 * [backup-simplify]: Simplify 1 into 1 5.043 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.044 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.044 * [taylor]: Taking taylor expansion of 2 in phi2 5.044 * [backup-simplify]: Simplify 2 into 2 5.044 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.044 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.044 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.044 * [backup-simplify]: Simplify 0.5 into 0.5 5.044 * [taylor]: Taking taylor expansion of phi1 in phi2 5.044 * [backup-simplify]: Simplify phi1 into phi1 5.044 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.044 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.044 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.044 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.044 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.044 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.044 * [backup-simplify]: Simplify 0.5 into 0.5 5.044 * [taylor]: Taking taylor expansion of phi1 in phi2 5.044 * [backup-simplify]: Simplify phi1 into phi1 5.044 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.044 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.044 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.044 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.044 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.044 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.044 * [backup-simplify]: Simplify 0.5 into 0.5 5.044 * [taylor]: Taking taylor expansion of phi2 in phi2 5.044 * [backup-simplify]: Simplify 0 into 0 5.044 * [backup-simplify]: Simplify 1 into 1 5.045 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.045 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.045 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.045 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.045 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.045 * [backup-simplify]: Simplify 0.5 into 0.5 5.045 * [taylor]: Taking taylor expansion of phi2 in phi2 5.045 * [backup-simplify]: Simplify 0 into 0 5.045 * [backup-simplify]: Simplify 1 into 1 5.045 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.045 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.045 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.046 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) 5.046 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.046 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.046 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.046 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.046 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.046 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.046 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.047 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.047 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.047 * [backup-simplify]: Simplify (- 0) into 0 5.047 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.047 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.048 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.048 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.048 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.048 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.048 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.049 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.049 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.050 * [backup-simplify]: Simplify (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.051 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2))) 5.051 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 5.051 * [taylor]: Taking taylor expansion of 2 in phi2 5.051 * [backup-simplify]: Simplify 2 into 2 5.051 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 5.051 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 5.051 * [taylor]: Taking taylor expansion of phi2 in phi2 5.051 * [backup-simplify]: Simplify 0 into 0 5.051 * [backup-simplify]: Simplify 1 into 1 5.051 * [taylor]: Taking taylor expansion of phi1 in phi2 5.051 * [backup-simplify]: Simplify phi1 into phi1 5.051 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.052 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.052 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.052 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 5.052 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 5.052 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.052 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.052 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.052 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.052 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.052 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.052 * [backup-simplify]: Simplify 0.5 into 0.5 5.052 * [taylor]: Taking taylor expansion of phi1 in phi2 5.052 * [backup-simplify]: Simplify phi1 into phi1 5.052 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.052 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.052 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.052 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.052 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.052 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.052 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.052 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.052 * [backup-simplify]: Simplify 0.5 into 0.5 5.052 * [taylor]: Taking taylor expansion of phi2 in phi2 5.053 * [backup-simplify]: Simplify 0 into 0 5.053 * [backup-simplify]: Simplify 1 into 1 5.053 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.053 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.053 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.053 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.053 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.053 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.053 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.053 * [backup-simplify]: Simplify 0.5 into 0.5 5.053 * [taylor]: Taking taylor expansion of phi1 in phi2 5.053 * [backup-simplify]: Simplify phi1 into phi1 5.053 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.053 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.053 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.054 * [backup-simplify]: Simplify (- 0) into 0 5.054 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.054 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.054 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.054 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.054 * [backup-simplify]: Simplify 0.5 into 0.5 5.054 * [taylor]: Taking taylor expansion of phi2 in phi2 5.054 * [backup-simplify]: Simplify 0 into 0 5.054 * [backup-simplify]: Simplify 1 into 1 5.054 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.054 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.054 * [taylor]: Taking taylor expansion of 2 in phi2 5.054 * [backup-simplify]: Simplify 2 into 2 5.054 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.054 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.054 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.054 * [backup-simplify]: Simplify 0.5 into 0.5 5.054 * [taylor]: Taking taylor expansion of phi1 in phi2 5.054 * [backup-simplify]: Simplify phi1 into phi1 5.054 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.054 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.055 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.055 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.055 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.055 * [backup-simplify]: Simplify 0.5 into 0.5 5.055 * [taylor]: Taking taylor expansion of phi1 in phi2 5.055 * [backup-simplify]: Simplify phi1 into phi1 5.055 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.055 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.055 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.055 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.055 * [backup-simplify]: Simplify 0.5 into 0.5 5.055 * [taylor]: Taking taylor expansion of phi2 in phi2 5.055 * [backup-simplify]: Simplify 0 into 0 5.055 * [backup-simplify]: Simplify 1 into 1 5.055 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.055 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.055 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.055 * [backup-simplify]: Simplify 0.5 into 0.5 5.055 * [taylor]: Taking taylor expansion of phi2 in phi2 5.055 * [backup-simplify]: Simplify 0 into 0 5.055 * [backup-simplify]: Simplify 1 into 1 5.056 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.056 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.057 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.057 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.057 * [backup-simplify]: Simplify (- 0) into 0 5.057 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.058 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.058 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.058 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.059 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.060 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.061 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.061 * [backup-simplify]: Simplify (+ 0) into 0 5.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.063 * [backup-simplify]: Simplify (+ 0 0) into 0 5.063 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.063 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.064 * [backup-simplify]: Simplify (+ 0) into 0 5.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.064 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.065 * [backup-simplify]: Simplify (- 0) into 0 5.065 * [backup-simplify]: Simplify (+ 0 0) into 0 5.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.066 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.066 * [backup-simplify]: Simplify (+ 0 0) into 0 5.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.066 * [backup-simplify]: Simplify (+ 0) into 0 5.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.068 * [backup-simplify]: Simplify (+ 0 0) into 0 5.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.068 * [backup-simplify]: Simplify (+ 0) into 0 5.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.068 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.069 * [backup-simplify]: Simplify (- 0) into 0 5.070 * [backup-simplify]: Simplify (+ 0 0) into 0 5.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.070 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.071 * [backup-simplify]: Simplify (- 0) into 0 5.071 * [backup-simplify]: Simplify (+ 0 0) into 0 5.072 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.073 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.074 * [backup-simplify]: Simplify (+ 1 0) into 1 5.074 * [backup-simplify]: Simplify (+ 1 0) into 1 5.074 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.075 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.075 * [backup-simplify]: Simplify (+ 0 0) into 0 5.075 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 5.075 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 5.075 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 5.075 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.076 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1)))) 5.077 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.079 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.079 * [taylor]: Taking taylor expansion of (- (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 5.079 * [taylor]: Taking taylor expansion of (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 5.079 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.079 * [taylor]: Taking taylor expansion of phi1 in phi1 5.079 * [backup-simplify]: Simplify 0 into 0 5.079 * [backup-simplify]: Simplify 1 into 1 5.079 * [backup-simplify]: Simplify (/ 1 1) into 1 5.079 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 5.079 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 5.080 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 5.080 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 5.080 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 5.080 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 5.080 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.080 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.080 * [backup-simplify]: Simplify 0.5 into 0.5 5.080 * [taylor]: Taking taylor expansion of phi1 in phi1 5.080 * [backup-simplify]: Simplify 0 into 0 5.080 * [backup-simplify]: Simplify 1 into 1 5.080 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.080 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 5.080 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.080 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.080 * [backup-simplify]: Simplify 0.5 into 0.5 5.080 * [taylor]: Taking taylor expansion of phi2 in phi1 5.080 * [backup-simplify]: Simplify phi2 into phi2 5.080 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.080 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.080 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.081 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.081 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 5.081 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 5.081 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.081 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.081 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.081 * [backup-simplify]: Simplify 0.5 into 0.5 5.081 * [taylor]: Taking taylor expansion of phi1 in phi1 5.081 * [backup-simplify]: Simplify 0 into 0 5.081 * [backup-simplify]: Simplify 1 into 1 5.081 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.081 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.081 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 5.081 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.081 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.081 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.081 * [backup-simplify]: Simplify 0.5 into 0.5 5.081 * [taylor]: Taking taylor expansion of phi2 in phi1 5.081 * [backup-simplify]: Simplify phi2 into phi2 5.081 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.081 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.081 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.082 * [backup-simplify]: Simplify (- 0) into 0 5.082 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.082 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 5.082 * [taylor]: Taking taylor expansion of 2 in phi1 5.082 * [backup-simplify]: Simplify 2 into 2 5.082 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 5.082 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.082 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.082 * [backup-simplify]: Simplify 0.5 into 0.5 5.082 * [taylor]: Taking taylor expansion of phi1 in phi1 5.082 * [backup-simplify]: Simplify 0 into 0 5.082 * [backup-simplify]: Simplify 1 into 1 5.082 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.082 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 5.082 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.082 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.082 * [backup-simplify]: Simplify 0.5 into 0.5 5.082 * [taylor]: Taking taylor expansion of phi1 in phi1 5.082 * [backup-simplify]: Simplify 0 into 0 5.082 * [backup-simplify]: Simplify 1 into 1 5.083 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.083 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 5.083 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.083 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.083 * [backup-simplify]: Simplify 0.5 into 0.5 5.083 * [taylor]: Taking taylor expansion of phi2 in phi1 5.083 * [backup-simplify]: Simplify phi2 into phi2 5.083 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.083 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.083 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.083 * [backup-simplify]: Simplify 0.5 into 0.5 5.083 * [taylor]: Taking taylor expansion of phi2 in phi1 5.083 * [backup-simplify]: Simplify phi2 into phi2 5.083 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.084 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.084 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.085 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.085 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.085 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.085 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.085 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.085 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.090 * [backup-simplify]: Simplify (- 0) into 0 5.090 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.090 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.090 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.090 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.091 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.091 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.092 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.093 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.093 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.094 * [backup-simplify]: Simplify (+ 0) into 0 5.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.095 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.096 * [backup-simplify]: Simplify (+ 0 0) into 0 5.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.097 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.097 * [backup-simplify]: Simplify (+ 0) into 0 5.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.098 * [backup-simplify]: Simplify (- 0) into 0 5.099 * [backup-simplify]: Simplify (+ 0 0) into 0 5.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.100 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.100 * [backup-simplify]: Simplify (+ 0 0) into 0 5.101 * [backup-simplify]: Simplify (+ 0) into 0 5.101 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.102 * [backup-simplify]: Simplify (- 0) into 0 5.102 * [backup-simplify]: Simplify (+ 0 0) into 0 5.102 * [backup-simplify]: Simplify (+ 0) into 0 5.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.104 * [backup-simplify]: Simplify (+ 0 0) into 0 5.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.105 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.105 * [backup-simplify]: Simplify (- 0) into 0 5.105 * [backup-simplify]: Simplify (+ 0 0) into 0 5.107 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.108 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.109 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.110 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 5.110 * [taylor]: Taking taylor expansion of (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda1 5.110 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1 5.110 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1 5.110 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1 5.110 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1 5.110 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 5.110 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 5.110 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.110 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.110 * [backup-simplify]: Simplify 0.5 into 0.5 5.110 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.110 * [backup-simplify]: Simplify phi1 into phi1 5.110 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.110 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.110 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.110 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.110 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 5.110 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.110 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.110 * [backup-simplify]: Simplify 0.5 into 0.5 5.110 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.110 * [backup-simplify]: Simplify phi2 into phi2 5.110 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.110 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.110 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.111 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.111 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 5.111 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 5.111 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.111 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.111 * [backup-simplify]: Simplify 0.5 into 0.5 5.111 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.111 * [backup-simplify]: Simplify phi1 into phi1 5.111 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.111 * [backup-simplify]: Simplify (- 0) into 0 5.112 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.112 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 5.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.112 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.112 * [backup-simplify]: Simplify 0.5 into 0.5 5.112 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.112 * [backup-simplify]: Simplify phi2 into phi2 5.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.112 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.112 * [backup-simplify]: Simplify (- 0) into 0 5.112 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.112 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1 5.112 * [taylor]: Taking taylor expansion of 2 in lambda1 5.112 * [backup-simplify]: Simplify 2 into 2 5.112 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 5.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.112 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.112 * [backup-simplify]: Simplify 0.5 into 0.5 5.112 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.112 * [backup-simplify]: Simplify phi1 into phi1 5.112 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.113 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 5.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.113 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.113 * [backup-simplify]: Simplify 0.5 into 0.5 5.113 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.113 * [backup-simplify]: Simplify phi1 into phi1 5.113 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.113 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 5.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.113 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.113 * [backup-simplify]: Simplify 0.5 into 0.5 5.113 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.113 * [backup-simplify]: Simplify phi2 into phi2 5.113 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.113 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.113 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.113 * [backup-simplify]: Simplify 0.5 into 0.5 5.113 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.113 * [backup-simplify]: Simplify phi2 into phi2 5.113 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.113 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.114 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.114 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.115 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.115 * [backup-simplify]: Simplify (- 0) into 0 5.115 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.115 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.115 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.116 * [backup-simplify]: Simplify (- 0) into 0 5.116 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.116 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.117 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.117 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.118 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.119 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.119 * [backup-simplify]: Simplify (+ 0) into 0 5.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.120 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.121 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.121 * [backup-simplify]: Simplify (+ 0 0) into 0 5.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.121 * [backup-simplify]: Simplify (+ 0) into 0 5.122 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.123 * [backup-simplify]: Simplify (+ 0 0) into 0 5.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.123 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.123 * [backup-simplify]: Simplify (+ 0) into 0 5.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.125 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.125 * [backup-simplify]: Simplify (- 0) into 0 5.125 * [backup-simplify]: Simplify (+ 0 0) into 0 5.125 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.125 * [backup-simplify]: Simplify (+ 0) into 0 5.126 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.126 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.127 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.127 * [backup-simplify]: Simplify (- 0) into 0 5.127 * [backup-simplify]: Simplify (+ 0 0) into 0 5.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.127 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.128 * [backup-simplify]: Simplify (+ 0 0) into 0 5.128 * [backup-simplify]: Simplify (+ 0) into 0 5.128 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.128 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.129 * [backup-simplify]: Simplify (- 0) into 0 5.130 * [backup-simplify]: Simplify (+ 0 0) into 0 5.130 * [backup-simplify]: Simplify (+ 0) into 0 5.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.131 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.131 * [backup-simplify]: Simplify (+ 0 0) into 0 5.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.132 * [backup-simplify]: Simplify (+ 0) into 0 5.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.132 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.133 * [backup-simplify]: Simplify (+ 0 0) into 0 5.133 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.134 * [backup-simplify]: Simplify (+ 0) into 0 5.134 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.135 * [backup-simplify]: Simplify (- 0) into 0 5.135 * [backup-simplify]: Simplify (+ 0 0) into 0 5.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.136 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.136 * [backup-simplify]: Simplify (- 0) into 0 5.136 * [backup-simplify]: Simplify (+ 0 0) into 0 5.138 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.139 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.140 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 5.141 * [backup-simplify]: Simplify (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.141 * [taylor]: Taking taylor expansion of (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 5.141 * [taylor]: Taking taylor expansion of -1 in phi1 5.141 * [backup-simplify]: Simplify -1 into -1 5.141 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 5.141 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1 5.141 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.141 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.141 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.141 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.141 * [backup-simplify]: Simplify 0.5 into 0.5 5.141 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.141 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.141 * [taylor]: Taking taylor expansion of phi1 in phi1 5.141 * [backup-simplify]: Simplify 0 into 0 5.141 * [backup-simplify]: Simplify 1 into 1 5.142 * [backup-simplify]: Simplify (/ 1 1) into 1 5.142 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.142 * [taylor]: Taking taylor expansion of phi2 in phi1 5.142 * [backup-simplify]: Simplify phi2 into phi2 5.142 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.142 * [backup-simplify]: Simplify (+ 1 0) into 1 5.142 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.142 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.143 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.143 * [backup-simplify]: Simplify lambda1 into lambda1 5.143 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.143 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.143 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 5.143 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 5.143 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 5.143 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 5.143 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 5.143 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 5.143 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.143 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.143 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.143 * [backup-simplify]: Simplify 0.5 into 0.5 5.143 * [taylor]: Taking taylor expansion of phi1 in phi1 5.143 * [backup-simplify]: Simplify 0 into 0 5.143 * [backup-simplify]: Simplify 1 into 1 5.143 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.144 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 5.144 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.144 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.144 * [backup-simplify]: Simplify 0.5 into 0.5 5.144 * [taylor]: Taking taylor expansion of phi2 in phi1 5.144 * [backup-simplify]: Simplify phi2 into phi2 5.144 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.144 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.144 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.144 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.144 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 5.144 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 5.144 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.144 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.144 * [backup-simplify]: Simplify 0.5 into 0.5 5.144 * [taylor]: Taking taylor expansion of phi1 in phi1 5.144 * [backup-simplify]: Simplify 0 into 0 5.144 * [backup-simplify]: Simplify 1 into 1 5.144 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.145 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 5.145 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.145 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.145 * [backup-simplify]: Simplify 0.5 into 0.5 5.145 * [taylor]: Taking taylor expansion of phi2 in phi1 5.145 * [backup-simplify]: Simplify phi2 into phi2 5.145 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.145 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.145 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.145 * [backup-simplify]: Simplify (- 0) into 0 5.145 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.145 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 5.145 * [taylor]: Taking taylor expansion of 2 in phi1 5.145 * [backup-simplify]: Simplify 2 into 2 5.145 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 5.145 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.145 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.145 * [backup-simplify]: Simplify 0.5 into 0.5 5.145 * [taylor]: Taking taylor expansion of phi1 in phi1 5.145 * [backup-simplify]: Simplify 0 into 0 5.145 * [backup-simplify]: Simplify 1 into 1 5.146 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.146 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 5.146 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.146 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.146 * [backup-simplify]: Simplify 0.5 into 0.5 5.146 * [taylor]: Taking taylor expansion of phi1 in phi1 5.146 * [backup-simplify]: Simplify 0 into 0 5.146 * [backup-simplify]: Simplify 1 into 1 5.146 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.146 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 5.146 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.146 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.146 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.146 * [backup-simplify]: Simplify 0.5 into 0.5 5.146 * [taylor]: Taking taylor expansion of phi2 in phi1 5.146 * [backup-simplify]: Simplify phi2 into phi2 5.146 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.147 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.147 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.147 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.147 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.147 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.147 * [backup-simplify]: Simplify 0.5 into 0.5 5.147 * [taylor]: Taking taylor expansion of phi2 in phi1 5.147 * [backup-simplify]: Simplify phi2 into phi2 5.147 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.147 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.147 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.147 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.148 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.148 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.148 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.149 * [backup-simplify]: Simplify (- 0) into 0 5.149 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.149 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.149 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.150 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.151 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.152 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.152 * [backup-simplify]: Simplify (+ 0) into 0 5.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.154 * [backup-simplify]: Simplify (+ 0 0) into 0 5.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.154 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.154 * [backup-simplify]: Simplify (+ 0) into 0 5.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.156 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.156 * [backup-simplify]: Simplify (- 0) into 0 5.156 * [backup-simplify]: Simplify (+ 0 0) into 0 5.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.157 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.157 * [backup-simplify]: Simplify (+ 0 0) into 0 5.157 * [backup-simplify]: Simplify (+ 0) into 0 5.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.157 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.159 * [backup-simplify]: Simplify (- 0) into 0 5.159 * [backup-simplify]: Simplify (+ 0 0) into 0 5.159 * [backup-simplify]: Simplify (+ 0) into 0 5.160 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.161 * [backup-simplify]: Simplify (+ 0 0) into 0 5.161 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.161 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.162 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.162 * [backup-simplify]: Simplify (- 0) into 0 5.162 * [backup-simplify]: Simplify (+ 0 0) into 0 5.164 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.165 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.165 * [taylor]: Taking taylor expansion of 0 in phi1 5.165 * [backup-simplify]: Simplify 0 into 0 5.165 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1 5.165 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1 5.165 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1 5.165 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 5.165 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 5.165 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.165 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.165 * [backup-simplify]: Simplify 0.5 into 0.5 5.165 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.165 * [backup-simplify]: Simplify phi1 into phi1 5.165 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.165 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.165 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.165 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.165 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.165 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.165 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 5.165 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.165 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.165 * [backup-simplify]: Simplify 0.5 into 0.5 5.165 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.165 * [backup-simplify]: Simplify phi2 into phi2 5.165 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.165 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.166 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.166 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 5.166 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 5.166 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.166 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.166 * [backup-simplify]: Simplify 0.5 into 0.5 5.166 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.166 * [backup-simplify]: Simplify phi1 into phi1 5.166 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.167 * [backup-simplify]: Simplify (- 0) into 0 5.167 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.167 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 5.167 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.167 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.167 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.167 * [backup-simplify]: Simplify 0.5 into 0.5 5.167 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.167 * [backup-simplify]: Simplify phi2 into phi2 5.167 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.167 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.167 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.167 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.167 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.167 * [backup-simplify]: Simplify (- 0) into 0 5.167 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.167 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1 5.168 * [taylor]: Taking taylor expansion of 2 in lambda1 5.168 * [backup-simplify]: Simplify 2 into 2 5.168 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 5.168 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.168 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.168 * [backup-simplify]: Simplify 0.5 into 0.5 5.168 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.168 * [backup-simplify]: Simplify phi1 into phi1 5.168 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.168 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.168 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.168 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 5.168 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.168 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.168 * [backup-simplify]: Simplify 0.5 into 0.5 5.168 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.168 * [backup-simplify]: Simplify phi1 into phi1 5.168 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.168 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.168 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.168 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 5.168 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.168 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.168 * [backup-simplify]: Simplify 0.5 into 0.5 5.168 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.168 * [backup-simplify]: Simplify phi2 into phi2 5.168 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.168 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.168 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.168 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.168 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.168 * [backup-simplify]: Simplify 0.5 into 0.5 5.168 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.168 * [backup-simplify]: Simplify phi2 into phi2 5.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.169 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.169 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.169 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.169 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.169 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.170 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.170 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.170 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.171 * [backup-simplify]: Simplify (- 0) into 0 5.171 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.171 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.171 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.172 * [backup-simplify]: Simplify (- 0) into 0 5.172 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.172 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.173 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.173 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.174 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.174 * [backup-simplify]: Simplify (+ 0) into 0 5.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.175 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.176 * [backup-simplify]: Simplify (+ 0 0) into 0 5.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.176 * [backup-simplify]: Simplify (+ 0) into 0 5.177 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.178 * [backup-simplify]: Simplify (+ 0 0) into 0 5.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.178 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.179 * [backup-simplify]: Simplify (+ 0) into 0 5.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.179 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.180 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.180 * [backup-simplify]: Simplify (- 0) into 0 5.180 * [backup-simplify]: Simplify (+ 0 0) into 0 5.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.181 * [backup-simplify]: Simplify (+ 0) into 0 5.181 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.181 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.182 * [backup-simplify]: Simplify (- 0) into 0 5.182 * [backup-simplify]: Simplify (+ 0 0) into 0 5.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.183 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.183 * [backup-simplify]: Simplify (+ 0 0) into 0 5.183 * [backup-simplify]: Simplify (+ 0) into 0 5.183 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.184 * [backup-simplify]: Simplify (- 0) into 0 5.185 * [backup-simplify]: Simplify (+ 0 0) into 0 5.185 * [backup-simplify]: Simplify (+ 0) into 0 5.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.185 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.186 * [backup-simplify]: Simplify (+ 0 0) into 0 5.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.187 * [backup-simplify]: Simplify (+ 0) into 0 5.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.188 * [backup-simplify]: Simplify (+ 0 0) into 0 5.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.189 * [backup-simplify]: Simplify (+ 0) into 0 5.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.189 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.190 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.190 * [backup-simplify]: Simplify (- 0) into 0 5.190 * [backup-simplify]: Simplify (+ 0 0) into 0 5.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.191 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.191 * [backup-simplify]: Simplify (- 0) into 0 5.191 * [backup-simplify]: Simplify (+ 0 0) into 0 5.192 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 5.193 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.194 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.200 * [backup-simplify]: Simplify (+ 0 0) into 0 5.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 5.202 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.202 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.204 * [backup-simplify]: Simplify (+ 0 0) into 0 5.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0 5.205 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))))) into 0 5.206 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.207 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.207 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.207 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 5.207 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.208 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 5.208 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.209 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.209 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.211 * [backup-simplify]: Simplify (- 0) into 0 5.212 * [backup-simplify]: Simplify (+ 0 0) into 0 5.212 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 5.213 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.214 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.215 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.215 * [backup-simplify]: Simplify (- 0) into 0 5.216 * [backup-simplify]: Simplify (+ 0 0) into 0 5.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1)))))) into 0 5.217 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))))) into 0 5.217 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.219 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.219 * [backup-simplify]: Simplify (+ 0) into 0 5.220 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.220 * [backup-simplify]: Simplify (+ 0 0) into 0 5.220 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.221 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.221 * [backup-simplify]: Simplify (- 0) into 0 5.222 * [backup-simplify]: Simplify (+ 0 0) into 0 5.222 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.222 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.222 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 5.223 * [backup-simplify]: Simplify (+ 0 0) into 0 5.223 * [backup-simplify]: Simplify (+ 0 0) into 0 5.223 * [backup-simplify]: Simplify (+ 0 0) into 0 5.223 * [backup-simplify]: Simplify (+ 0 0) into 0 5.224 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.224 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.225 * [backup-simplify]: Simplify (+ 0 0) into 0 5.225 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.226 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.226 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.226 * [backup-simplify]: Simplify (- 0) into 0 5.227 * [backup-simplify]: Simplify (+ 0 0) into 0 5.227 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.228 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0 5.228 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0 5.229 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0 5.229 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 5.229 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 5.230 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.232 * [backup-simplify]: Simplify (- 0) into 0 5.233 * [backup-simplify]: Simplify (+ 0 0) into 0 5.233 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.234 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.235 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.235 * [backup-simplify]: Simplify (+ 0 0) into 0 5.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 5.236 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.237 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.238 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.239 * [backup-simplify]: Simplify (+ 0 0) into 0 5.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.240 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.241 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.242 * [backup-simplify]: Simplify (- 0) into 0 5.242 * [backup-simplify]: Simplify (+ 0 0) into 0 5.243 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 5.244 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.245 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.246 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 5.246 * [backup-simplify]: Simplify (+ 0 0) into 0 5.246 * [backup-simplify]: Simplify (+ 0 0) into 0 5.247 * [backup-simplify]: Simplify (- 0) into 0 5.247 * [backup-simplify]: Simplify (+ 0 0) into 0 5.253 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.253 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 5.253 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.253 * [backup-simplify]: Simplify 1/2 into 1/2 5.253 * [taylor]: Taking taylor expansion of (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 5.253 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) in phi2 5.253 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi2 5.253 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) in phi2 5.253 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2 5.253 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.253 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.253 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.253 * [backup-simplify]: Simplify 0.5 into 0.5 5.253 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.253 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.253 * [taylor]: Taking taylor expansion of phi1 in phi2 5.253 * [backup-simplify]: Simplify phi1 into phi1 5.253 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.253 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.254 * [taylor]: Taking taylor expansion of phi2 in phi2 5.254 * [backup-simplify]: Simplify 0 into 0 5.254 * [backup-simplify]: Simplify 1 into 1 5.254 * [backup-simplify]: Simplify (/ 1 1) into 1 5.254 * [backup-simplify]: Simplify (+ 0 1) into 1 5.255 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.255 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.255 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) in phi2 5.255 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.255 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.255 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.255 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.255 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.255 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.255 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.255 * [backup-simplify]: Simplify 0.5 into 0.5 5.255 * [taylor]: Taking taylor expansion of phi1 in phi2 5.255 * [backup-simplify]: Simplify phi1 into phi1 5.255 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.255 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.255 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.255 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.255 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.255 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.255 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.255 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.255 * [backup-simplify]: Simplify 0.5 into 0.5 5.255 * [taylor]: Taking taylor expansion of phi2 in phi2 5.255 * [backup-simplify]: Simplify 0 into 0 5.255 * [backup-simplify]: Simplify 1 into 1 5.256 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.256 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.256 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.256 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.256 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.256 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.256 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.256 * [backup-simplify]: Simplify 0.5 into 0.5 5.256 * [taylor]: Taking taylor expansion of phi1 in phi2 5.256 * [backup-simplify]: Simplify phi1 into phi1 5.256 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.256 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.256 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.256 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.256 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.256 * [backup-simplify]: Simplify (- 0) into 0 5.257 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.257 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.257 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.257 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.257 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.257 * [backup-simplify]: Simplify 0.5 into 0.5 5.257 * [taylor]: Taking taylor expansion of phi2 in phi2 5.257 * [backup-simplify]: Simplify 0 into 0 5.257 * [backup-simplify]: Simplify 1 into 1 5.257 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.257 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.257 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.257 * [taylor]: Taking taylor expansion of 2 in phi2 5.257 * [backup-simplify]: Simplify 2 into 2 5.257 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.257 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.257 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.257 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.257 * [backup-simplify]: Simplify 0.5 into 0.5 5.257 * [taylor]: Taking taylor expansion of phi1 in phi2 5.257 * [backup-simplify]: Simplify phi1 into phi1 5.257 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.257 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.257 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.257 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.257 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.257 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.258 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.258 * [backup-simplify]: Simplify 0.5 into 0.5 5.258 * [taylor]: Taking taylor expansion of phi1 in phi2 5.258 * [backup-simplify]: Simplify phi1 into phi1 5.258 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.258 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.258 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.258 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.258 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.258 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.258 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.258 * [backup-simplify]: Simplify 0.5 into 0.5 5.258 * [taylor]: Taking taylor expansion of phi2 in phi2 5.258 * [backup-simplify]: Simplify 0 into 0 5.258 * [backup-simplify]: Simplify 1 into 1 5.258 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.258 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.258 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.258 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.258 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.258 * [backup-simplify]: Simplify 0.5 into 0.5 5.258 * [taylor]: Taking taylor expansion of phi2 in phi2 5.258 * [backup-simplify]: Simplify 0 into 0 5.258 * [backup-simplify]: Simplify 1 into 1 5.259 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.259 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.259 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2 5.259 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.259 * [backup-simplify]: Simplify lambda1 into lambda1 5.259 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.259 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) 5.259 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.260 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.260 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.260 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.260 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.260 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.261 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.261 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.261 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.261 * [backup-simplify]: Simplify (- 0) into 0 5.261 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.261 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.261 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.261 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.262 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.262 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.262 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.262 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.262 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.263 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.263 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.263 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 5.264 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) into (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.265 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) 5.265 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 5.265 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 5.265 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.265 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.265 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.265 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.265 * [backup-simplify]: Simplify 0.5 into 0.5 5.265 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.265 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.265 * [taylor]: Taking taylor expansion of phi1 in phi2 5.265 * [backup-simplify]: Simplify phi1 into phi1 5.265 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.265 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.265 * [taylor]: Taking taylor expansion of phi2 in phi2 5.265 * [backup-simplify]: Simplify 0 into 0 5.265 * [backup-simplify]: Simplify 1 into 1 5.266 * [backup-simplify]: Simplify (/ 1 1) into 1 5.266 * [backup-simplify]: Simplify (+ 0 1) into 1 5.266 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.266 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.267 * [taylor]: Taking taylor expansion of (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 5.267 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.267 * [backup-simplify]: Simplify lambda1 into lambda1 5.267 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 5.267 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.267 * [taylor]: Taking taylor expansion of phi1 in phi2 5.267 * [backup-simplify]: Simplify phi1 into phi1 5.267 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.267 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.267 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.267 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.267 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.267 * [backup-simplify]: Simplify 0.5 into 0.5 5.267 * [taylor]: Taking taylor expansion of phi1 in phi2 5.267 * [backup-simplify]: Simplify phi1 into phi1 5.267 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.267 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.267 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.267 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.267 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.267 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.267 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.267 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.268 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.268 * [backup-simplify]: Simplify 0.5 into 0.5 5.268 * [taylor]: Taking taylor expansion of phi2 in phi2 5.268 * [backup-simplify]: Simplify 0 into 0 5.268 * [backup-simplify]: Simplify 1 into 1 5.268 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.268 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.268 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.268 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.268 * [backup-simplify]: Simplify 0.5 into 0.5 5.268 * [taylor]: Taking taylor expansion of phi1 in phi2 5.268 * [backup-simplify]: Simplify phi1 into phi1 5.268 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.268 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.268 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.269 * [backup-simplify]: Simplify (- 0) into 0 5.269 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.269 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.269 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.269 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.269 * [backup-simplify]: Simplify 0.5 into 0.5 5.269 * [taylor]: Taking taylor expansion of phi2 in phi2 5.269 * [backup-simplify]: Simplify 0 into 0 5.269 * [backup-simplify]: Simplify 1 into 1 5.269 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.269 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.269 * [taylor]: Taking taylor expansion of 2 in phi2 5.269 * [backup-simplify]: Simplify 2 into 2 5.269 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.269 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.270 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.270 * [backup-simplify]: Simplify 0.5 into 0.5 5.270 * [taylor]: Taking taylor expansion of phi1 in phi2 5.270 * [backup-simplify]: Simplify phi1 into phi1 5.270 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.270 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.270 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.270 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.270 * [backup-simplify]: Simplify 0.5 into 0.5 5.270 * [taylor]: Taking taylor expansion of phi1 in phi2 5.270 * [backup-simplify]: Simplify phi1 into phi1 5.270 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.270 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.270 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.270 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.270 * [backup-simplify]: Simplify 0.5 into 0.5 5.270 * [taylor]: Taking taylor expansion of phi2 in phi2 5.270 * [backup-simplify]: Simplify 0 into 0 5.270 * [backup-simplify]: Simplify 1 into 1 5.270 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.271 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.271 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.271 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.271 * [backup-simplify]: Simplify 0.5 into 0.5 5.271 * [taylor]: Taking taylor expansion of phi2 in phi2 5.271 * [backup-simplify]: Simplify 0 into 0 5.271 * [backup-simplify]: Simplify 1 into 1 5.271 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.271 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.271 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.271 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.271 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.272 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.272 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.272 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.273 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.273 * [backup-simplify]: Simplify (- 0) into 0 5.273 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.273 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.273 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.273 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.274 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.274 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.274 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.274 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.275 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.276 * [backup-simplify]: Simplify (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2)) 5.277 * [backup-simplify]: Simplify (* lambda1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 (pow phi1 2))) 5.278 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 (pow phi1 2)))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))) 5.278 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 5.278 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.278 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.278 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.278 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.278 * [backup-simplify]: Simplify 0.5 into 0.5 5.278 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.278 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.278 * [taylor]: Taking taylor expansion of phi1 in phi2 5.278 * [backup-simplify]: Simplify phi1 into phi1 5.278 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.278 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.278 * [taylor]: Taking taylor expansion of phi2 in phi2 5.278 * [backup-simplify]: Simplify 0 into 0 5.278 * [backup-simplify]: Simplify 1 into 1 5.279 * [backup-simplify]: Simplify (/ 1 1) into 1 5.279 * [backup-simplify]: Simplify (+ 0 1) into 1 5.279 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.280 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.280 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 5.280 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.280 * [taylor]: Taking taylor expansion of phi2 in phi2 5.280 * [backup-simplify]: Simplify 0 into 0 5.280 * [backup-simplify]: Simplify 1 into 1 5.280 * [taylor]: Taking taylor expansion of (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 5.280 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.280 * [backup-simplify]: Simplify lambda1 into lambda1 5.280 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.280 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.280 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.280 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.280 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.280 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.280 * [backup-simplify]: Simplify 0.5 into 0.5 5.280 * [taylor]: Taking taylor expansion of phi1 in phi2 5.280 * [backup-simplify]: Simplify phi1 into phi1 5.280 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.280 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.280 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.280 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.280 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.280 * [backup-simplify]: Simplify 0.5 into 0.5 5.280 * [taylor]: Taking taylor expansion of phi2 in phi2 5.280 * [backup-simplify]: Simplify 0 into 0 5.280 * [backup-simplify]: Simplify 1 into 1 5.281 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.281 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.281 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.281 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.281 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.281 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.281 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.281 * [backup-simplify]: Simplify 0.5 into 0.5 5.281 * [taylor]: Taking taylor expansion of phi1 in phi2 5.281 * [backup-simplify]: Simplify phi1 into phi1 5.281 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.281 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.281 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.281 * [backup-simplify]: Simplify (- 0) into 0 5.282 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.282 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.282 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.282 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.282 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.282 * [backup-simplify]: Simplify 0.5 into 0.5 5.282 * [taylor]: Taking taylor expansion of phi2 in phi2 5.282 * [backup-simplify]: Simplify 0 into 0 5.282 * [backup-simplify]: Simplify 1 into 1 5.282 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.282 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.282 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.282 * [taylor]: Taking taylor expansion of 2 in phi2 5.282 * [backup-simplify]: Simplify 2 into 2 5.282 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.282 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.282 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.282 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.282 * [backup-simplify]: Simplify 0.5 into 0.5 5.282 * [taylor]: Taking taylor expansion of phi1 in phi2 5.282 * [backup-simplify]: Simplify phi1 into phi1 5.282 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.282 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.282 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.282 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.282 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.282 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.282 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.282 * [backup-simplify]: Simplify 0.5 into 0.5 5.283 * [taylor]: Taking taylor expansion of phi1 in phi2 5.283 * [backup-simplify]: Simplify phi1 into phi1 5.283 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.283 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.283 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.283 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.283 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.283 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.283 * [backup-simplify]: Simplify 0.5 into 0.5 5.283 * [taylor]: Taking taylor expansion of phi2 in phi2 5.283 * [backup-simplify]: Simplify 0 into 0 5.283 * [backup-simplify]: Simplify 1 into 1 5.283 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.283 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.283 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.283 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.283 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.283 * [backup-simplify]: Simplify 0.5 into 0.5 5.283 * [taylor]: Taking taylor expansion of phi2 in phi2 5.283 * [backup-simplify]: Simplify 0 into 0 5.283 * [backup-simplify]: Simplify 1 into 1 5.284 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.284 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.284 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.284 * [backup-simplify]: Simplify (* 1 1) into 1 5.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.285 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.285 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.286 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.286 * [backup-simplify]: Simplify (- 0) into 0 5.286 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.286 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.287 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.287 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.287 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.287 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.288 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.289 * [backup-simplify]: Simplify (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.289 * [backup-simplify]: Simplify (* 1 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.290 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) 5.290 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))))) in phi2 5.290 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) in phi2 5.291 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) in phi2 5.291 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.291 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.291 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.291 * [backup-simplify]: Simplify 0.5 into 0.5 5.291 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.291 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.291 * [taylor]: Taking taylor expansion of phi1 in phi2 5.291 * [backup-simplify]: Simplify phi1 into phi1 5.291 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.291 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.291 * [taylor]: Taking taylor expansion of phi2 in phi2 5.291 * [backup-simplify]: Simplify 0 into 0 5.291 * [backup-simplify]: Simplify 1 into 1 5.291 * [backup-simplify]: Simplify (/ 1 1) into 1 5.291 * [backup-simplify]: Simplify (+ 0 1) into 1 5.292 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.292 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.292 * [taylor]: Taking taylor expansion of (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) in phi2 5.292 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2 5.292 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.292 * [backup-simplify]: Simplify lambda1 into lambda1 5.292 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) in phi2 5.292 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.292 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.292 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.292 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.292 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.292 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.292 * [backup-simplify]: Simplify 0.5 into 0.5 5.292 * [taylor]: Taking taylor expansion of phi1 in phi2 5.292 * [backup-simplify]: Simplify phi1 into phi1 5.292 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.293 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.293 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.293 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.293 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.293 * [backup-simplify]: Simplify 0.5 into 0.5 5.293 * [taylor]: Taking taylor expansion of phi2 in phi2 5.293 * [backup-simplify]: Simplify 0 into 0 5.293 * [backup-simplify]: Simplify 1 into 1 5.293 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.293 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.293 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.293 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.293 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.293 * [backup-simplify]: Simplify 0.5 into 0.5 5.293 * [taylor]: Taking taylor expansion of phi1 in phi2 5.293 * [backup-simplify]: Simplify phi1 into phi1 5.293 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.294 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.294 * [backup-simplify]: Simplify (- 0) into 0 5.294 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.294 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.294 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.294 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.294 * [backup-simplify]: Simplify 0.5 into 0.5 5.294 * [taylor]: Taking taylor expansion of phi2 in phi2 5.294 * [backup-simplify]: Simplify 0 into 0 5.294 * [backup-simplify]: Simplify 1 into 1 5.294 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.294 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.294 * [taylor]: Taking taylor expansion of 2 in phi2 5.294 * [backup-simplify]: Simplify 2 into 2 5.294 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.294 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.294 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.295 * [backup-simplify]: Simplify 0.5 into 0.5 5.295 * [taylor]: Taking taylor expansion of phi1 in phi2 5.295 * [backup-simplify]: Simplify phi1 into phi1 5.295 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.295 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.295 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.295 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.295 * [backup-simplify]: Simplify 0.5 into 0.5 5.295 * [taylor]: Taking taylor expansion of phi1 in phi2 5.295 * [backup-simplify]: Simplify phi1 into phi1 5.295 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.295 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.295 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.295 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.295 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.295 * [backup-simplify]: Simplify 0.5 into 0.5 5.295 * [taylor]: Taking taylor expansion of phi2 in phi2 5.295 * [backup-simplify]: Simplify 0 into 0 5.295 * [backup-simplify]: Simplify 1 into 1 5.295 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.295 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.296 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.296 * [backup-simplify]: Simplify 0.5 into 0.5 5.296 * [taylor]: Taking taylor expansion of phi2 in phi2 5.296 * [backup-simplify]: Simplify 0 into 0 5.296 * [backup-simplify]: Simplify 1 into 1 5.296 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.296 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.296 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.296 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.296 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.296 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.297 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.297 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.297 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.298 * [backup-simplify]: Simplify (- 0) into 0 5.298 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.298 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.298 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.298 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.298 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.299 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.299 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.300 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.300 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) 5.300 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) 5.300 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.300 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 5.302 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 5.303 * [backup-simplify]: Simplify (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) 5.304 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow lambda1 3))) 5.304 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))) in phi2 5.304 * [taylor]: Taking taylor expansion of 2 in phi2 5.304 * [backup-simplify]: Simplify 2 into 2 5.304 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))) in phi2 5.304 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.304 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.304 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.304 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.304 * [backup-simplify]: Simplify 0.5 into 0.5 5.304 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.304 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.304 * [taylor]: Taking taylor expansion of phi1 in phi2 5.304 * [backup-simplify]: Simplify phi1 into phi1 5.304 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.304 * [taylor]: Taking taylor expansion of phi2 in phi2 5.304 * [backup-simplify]: Simplify 0 into 0 5.304 * [backup-simplify]: Simplify 1 into 1 5.310 * [backup-simplify]: Simplify (/ 1 1) into 1 5.311 * [backup-simplify]: Simplify (+ 0 1) into 1 5.311 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.311 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.312 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))) in phi2 5.312 * [taylor]: Taking taylor expansion of phi2 in phi2 5.312 * [backup-simplify]: Simplify 0 into 0 5.312 * [backup-simplify]: Simplify 1 into 1 5.312 * [taylor]: Taking taylor expansion of (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) in phi2 5.312 * [taylor]: Taking taylor expansion of phi1 in phi2 5.312 * [backup-simplify]: Simplify phi1 into phi1 5.312 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1) in phi2 5.312 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.312 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.312 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.312 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.312 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.312 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.312 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.312 * [backup-simplify]: Simplify 0.5 into 0.5 5.312 * [taylor]: Taking taylor expansion of phi1 in phi2 5.312 * [backup-simplify]: Simplify phi1 into phi1 5.312 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.312 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.312 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.312 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.312 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.312 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.312 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.312 * [backup-simplify]: Simplify 0.5 into 0.5 5.312 * [taylor]: Taking taylor expansion of phi2 in phi2 5.312 * [backup-simplify]: Simplify 0 into 0 5.312 * [backup-simplify]: Simplify 1 into 1 5.313 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.313 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.313 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.313 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.313 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.313 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.313 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.313 * [backup-simplify]: Simplify 0.5 into 0.5 5.313 * [taylor]: Taking taylor expansion of phi1 in phi2 5.313 * [backup-simplify]: Simplify phi1 into phi1 5.313 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.313 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.313 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.313 * [backup-simplify]: Simplify (- 0) into 0 5.314 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.314 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.314 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.314 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.314 * [backup-simplify]: Simplify 0.5 into 0.5 5.314 * [taylor]: Taking taylor expansion of phi2 in phi2 5.314 * [backup-simplify]: Simplify 0 into 0 5.314 * [backup-simplify]: Simplify 1 into 1 5.314 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.314 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.314 * [taylor]: Taking taylor expansion of 2 in phi2 5.314 * [backup-simplify]: Simplify 2 into 2 5.314 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.314 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.314 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.314 * [backup-simplify]: Simplify 0.5 into 0.5 5.314 * [taylor]: Taking taylor expansion of phi1 in phi2 5.314 * [backup-simplify]: Simplify phi1 into phi1 5.314 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.314 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.314 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.314 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.315 * [backup-simplify]: Simplify 0.5 into 0.5 5.315 * [taylor]: Taking taylor expansion of phi1 in phi2 5.315 * [backup-simplify]: Simplify phi1 into phi1 5.315 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.315 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.315 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.315 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.315 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.315 * [backup-simplify]: Simplify 0.5 into 0.5 5.315 * [taylor]: Taking taylor expansion of phi2 in phi2 5.315 * [backup-simplify]: Simplify 0 into 0 5.315 * [backup-simplify]: Simplify 1 into 1 5.315 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.315 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.315 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.315 * [backup-simplify]: Simplify 0.5 into 0.5 5.315 * [taylor]: Taking taylor expansion of phi2 in phi2 5.315 * [backup-simplify]: Simplify 0 into 0 5.315 * [backup-simplify]: Simplify 1 into 1 5.316 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.316 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.316 * [backup-simplify]: Simplify lambda1 into lambda1 5.316 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.316 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.316 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.316 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.317 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.317 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.317 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.318 * [backup-simplify]: Simplify (- 0) into 0 5.318 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.318 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.319 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.319 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.320 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.320 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.321 * [backup-simplify]: Simplify (* phi1 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1)) 5.322 * [backup-simplify]: Simplify (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1))) into 0 5.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.323 * [backup-simplify]: Simplify (+ 0) into 0 5.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.323 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.324 * [backup-simplify]: Simplify (+ 0 0) into 0 5.324 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.325 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.325 * [backup-simplify]: Simplify (+ 0) into 0 5.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.327 * [backup-simplify]: Simplify (- 0) into 0 5.327 * [backup-simplify]: Simplify (+ 0 0) into 0 5.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.327 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.327 * [backup-simplify]: Simplify (+ 0 0) into 0 5.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.328 * [backup-simplify]: Simplify (+ 0) into 0 5.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.328 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.329 * [backup-simplify]: Simplify (+ 0 0) into 0 5.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.330 * [backup-simplify]: Simplify (+ 0) into 0 5.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.331 * [backup-simplify]: Simplify (- 0) into 0 5.331 * [backup-simplify]: Simplify (+ 0 0) into 0 5.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.332 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.332 * [backup-simplify]: Simplify (- 0) into 0 5.333 * [backup-simplify]: Simplify (+ 0 0) into 0 5.333 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 lambda1)) into 0 5.334 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 5.335 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1)))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* phi1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.337 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* phi1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) 5.337 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 5.337 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 5.337 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 5.337 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 5.337 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 5.337 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 5.337 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.337 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.337 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.337 * [backup-simplify]: Simplify 0.5 into 0.5 5.337 * [taylor]: Taking taylor expansion of phi1 in phi2 5.337 * [backup-simplify]: Simplify phi1 into phi1 5.337 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.337 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.337 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.337 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.337 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.337 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.337 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 5.337 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.337 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.337 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.337 * [backup-simplify]: Simplify 0.5 into 0.5 5.337 * [taylor]: Taking taylor expansion of phi2 in phi2 5.337 * [backup-simplify]: Simplify 0 into 0 5.337 * [backup-simplify]: Simplify 1 into 1 5.338 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.338 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.338 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 5.338 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 5.338 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.338 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.338 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.338 * [backup-simplify]: Simplify 0.5 into 0.5 5.338 * [taylor]: Taking taylor expansion of phi1 in phi2 5.338 * [backup-simplify]: Simplify phi1 into phi1 5.338 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.338 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.338 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.338 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.338 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.339 * [backup-simplify]: Simplify (- 0) into 0 5.339 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.339 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 5.339 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.339 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.339 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.339 * [backup-simplify]: Simplify 0.5 into 0.5 5.339 * [taylor]: Taking taylor expansion of phi2 in phi2 5.339 * [backup-simplify]: Simplify 0 into 0 5.339 * [backup-simplify]: Simplify 1 into 1 5.339 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.339 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.339 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 5.339 * [taylor]: Taking taylor expansion of 2 in phi2 5.339 * [backup-simplify]: Simplify 2 into 2 5.339 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 5.339 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 5.339 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.339 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.339 * [backup-simplify]: Simplify 0.5 into 0.5 5.339 * [taylor]: Taking taylor expansion of phi1 in phi2 5.339 * [backup-simplify]: Simplify phi1 into phi1 5.339 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.340 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.340 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.340 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 5.340 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 5.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 5.340 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.340 * [backup-simplify]: Simplify 0.5 into 0.5 5.340 * [taylor]: Taking taylor expansion of phi1 in phi2 5.340 * [backup-simplify]: Simplify phi1 into phi1 5.340 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.340 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.340 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.340 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 5.340 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 5.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.340 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.340 * [backup-simplify]: Simplify 0.5 into 0.5 5.340 * [taylor]: Taking taylor expansion of phi2 in phi2 5.340 * [backup-simplify]: Simplify 0 into 0 5.340 * [backup-simplify]: Simplify 1 into 1 5.340 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.340 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.340 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 5.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 5.340 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.340 * [backup-simplify]: Simplify 0.5 into 0.5 5.340 * [taylor]: Taking taylor expansion of phi2 in phi2 5.340 * [backup-simplify]: Simplify 0 into 0 5.340 * [backup-simplify]: Simplify 1 into 1 5.341 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.341 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.341 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.341 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.341 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.341 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.342 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.342 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.342 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.342 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.343 * [backup-simplify]: Simplify (- 0) into 0 5.343 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.343 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.343 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.344 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.345 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.345 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.346 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.347 * [backup-simplify]: Simplify (+ 0) into 0 5.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.348 * [backup-simplify]: Simplify (+ 0 0) into 0 5.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.349 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.349 * [backup-simplify]: Simplify (+ 0) into 0 5.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.351 * [backup-simplify]: Simplify (- 0) into 0 5.351 * [backup-simplify]: Simplify (+ 0 0) into 0 5.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.351 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.352 * [backup-simplify]: Simplify (+ 0 0) into 0 5.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.352 * [backup-simplify]: Simplify (+ 0) into 0 5.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.353 * [backup-simplify]: Simplify (+ 0 0) into 0 5.354 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.354 * [backup-simplify]: Simplify (+ 0) into 0 5.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.354 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.355 * [backup-simplify]: Simplify (- 0) into 0 5.356 * [backup-simplify]: Simplify (+ 0 0) into 0 5.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.356 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.357 * [backup-simplify]: Simplify (- 0) into 0 5.357 * [backup-simplify]: Simplify (+ 0 0) into 0 5.358 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.359 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.360 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.361 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.362 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.363 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.363 * [backup-simplify]: Simplify (+ 0) into 0 5.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.365 * [backup-simplify]: Simplify (+ 0 0) into 0 5.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.365 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.366 * [backup-simplify]: Simplify (+ 0) into 0 5.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.366 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.367 * [backup-simplify]: Simplify (- 0) into 0 5.367 * [backup-simplify]: Simplify (+ 0 0) into 0 5.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.368 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.368 * [backup-simplify]: Simplify (+ 0 0) into 0 5.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.368 * [backup-simplify]: Simplify (+ 0) into 0 5.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.370 * [backup-simplify]: Simplify (+ 0 0) into 0 5.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.371 * [backup-simplify]: Simplify (+ 0) into 0 5.371 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.372 * [backup-simplify]: Simplify (- 0) into 0 5.372 * [backup-simplify]: Simplify (+ 0 0) into 0 5.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.373 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.373 * [backup-simplify]: Simplify (- 0) into 0 5.373 * [backup-simplify]: Simplify (+ 0 0) into 0 5.374 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 5.375 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.376 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 5.378 * [backup-simplify]: Simplify (- (/ 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) (/ 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 5.379 * [backup-simplify]: Simplify (+ 0 0) into 0 5.379 * [backup-simplify]: Simplify (+ 0 0) into 0 5.380 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))) 5.381 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))) 5.383 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) 5.384 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) 5.387 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* 2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) 5.389 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 5.393 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) (* 0 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.393 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 5.393 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 5.393 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) in phi1 5.393 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.393 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.394 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.394 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.394 * [backup-simplify]: Simplify 0.5 into 0.5 5.394 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.394 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.394 * [taylor]: Taking taylor expansion of phi1 in phi1 5.394 * [backup-simplify]: Simplify 0 into 0 5.394 * [backup-simplify]: Simplify 1 into 1 5.394 * [backup-simplify]: Simplify (/ 1 1) into 1 5.394 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.394 * [taylor]: Taking taylor expansion of phi2 in phi1 5.394 * [backup-simplify]: Simplify phi2 into phi2 5.394 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.394 * [backup-simplify]: Simplify (+ 1 0) into 1 5.395 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.395 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.395 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))) in phi1 5.395 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) in phi1 5.395 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) in phi1 5.395 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 5.395 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.395 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.395 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.395 * [backup-simplify]: Simplify 0.5 into 0.5 5.395 * [taylor]: Taking taylor expansion of phi1 in phi1 5.395 * [backup-simplify]: Simplify 0 into 0 5.395 * [backup-simplify]: Simplify 1 into 1 5.395 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.396 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.396 * [taylor]: Taking taylor expansion of (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1)) in phi1 5.396 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.396 * [backup-simplify]: Simplify lambda1 into lambda1 5.396 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) phi1) in phi1 5.396 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 5.396 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.396 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.396 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.396 * [backup-simplify]: Simplify 0.5 into 0.5 5.396 * [taylor]: Taking taylor expansion of phi2 in phi1 5.396 * [backup-simplify]: Simplify phi2 into phi2 5.396 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.396 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.396 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.396 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.396 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.396 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.396 * [taylor]: Taking taylor expansion of phi1 in phi1 5.396 * [backup-simplify]: Simplify 0 into 0 5.396 * [backup-simplify]: Simplify 1 into 1 5.396 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) in phi1 5.396 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 5.396 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.396 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.396 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.396 * [backup-simplify]: Simplify 0.5 into 0.5 5.396 * [taylor]: Taking taylor expansion of phi1 in phi1 5.396 * [backup-simplify]: Simplify 0 into 0 5.396 * [backup-simplify]: Simplify 1 into 1 5.397 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.397 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.397 * [taylor]: Taking taylor expansion of (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) in phi1 5.397 * [taylor]: Taking taylor expansion of phi1 in phi1 5.397 * [backup-simplify]: Simplify 0 into 0 5.397 * [backup-simplify]: Simplify 1 into 1 5.397 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) in phi1 5.397 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.397 * [backup-simplify]: Simplify lambda1 into lambda1 5.397 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 5.397 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.397 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.397 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.397 * [backup-simplify]: Simplify 0.5 into 0.5 5.397 * [taylor]: Taking taylor expansion of phi2 in phi1 5.397 * [backup-simplify]: Simplify phi2 into phi2 5.397 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.397 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.397 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.397 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.397 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.397 * [backup-simplify]: Simplify (- 0) into 0 5.398 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.398 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))) in phi1 5.398 * [taylor]: Taking taylor expansion of 2 in phi1 5.398 * [backup-simplify]: Simplify 2 into 2 5.398 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))) in phi1 5.398 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.398 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.398 * [backup-simplify]: Simplify 0.5 into 0.5 5.398 * [taylor]: Taking taylor expansion of phi1 in phi1 5.398 * [backup-simplify]: Simplify 0 into 0 5.398 * [backup-simplify]: Simplify 1 into 1 5.398 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.398 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))) in phi1 5.398 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.398 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.398 * [backup-simplify]: Simplify 0.5 into 0.5 5.398 * [taylor]: Taking taylor expansion of phi1 in phi1 5.398 * [backup-simplify]: Simplify 0 into 0 5.398 * [backup-simplify]: Simplify 1 into 1 5.399 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.399 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.399 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))) in phi1 5.399 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.399 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.399 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.399 * [backup-simplify]: Simplify 0.5 into 0.5 5.399 * [taylor]: Taking taylor expansion of phi2 in phi1 5.399 * [backup-simplify]: Simplify phi2 into phi2 5.399 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.399 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.399 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.399 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* lambda1 phi1)) in phi1 5.399 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.399 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.399 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.399 * [backup-simplify]: Simplify 0.5 into 0.5 5.399 * [taylor]: Taking taylor expansion of phi2 in phi1 5.399 * [backup-simplify]: Simplify phi2 into phi2 5.399 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.399 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.399 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.399 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 5.399 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.399 * [backup-simplify]: Simplify lambda1 into lambda1 5.399 * [taylor]: Taking taylor expansion of phi1 in phi1 5.399 * [backup-simplify]: Simplify 0 into 0 5.399 * [backup-simplify]: Simplify 1 into 1 5.399 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.400 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0 5.400 * [backup-simplify]: Simplify (* lambda1 0) into 0 5.400 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0 5.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.400 * [backup-simplify]: Simplify (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) into (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) 5.400 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.401 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0 5.401 * [backup-simplify]: Simplify (+ 0 0) into 0 5.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.401 * [backup-simplify]: Simplify (- 0) into 0 5.401 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.402 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.402 * [backup-simplify]: Simplify (* lambda1 0) into 0 5.402 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.402 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.402 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.402 * [backup-simplify]: Simplify (* 2 0) into 0 5.402 * [backup-simplify]: Simplify (- 0) into 0 5.403 * [backup-simplify]: Simplify (+ 0 0) into 0 5.403 * [backup-simplify]: Simplify (+ 0) into 0 5.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.404 * [backup-simplify]: Simplify (+ 0 0) into 0 5.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.405 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 1) (* 0 0)) into (pow (sin (/ 0.5 phi2)) 2) 5.405 * [backup-simplify]: Simplify (+ (* lambda1 (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* lambda1 (pow (sin (/ 0.5 phi2)) 2)) 5.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.406 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) 5.406 * [backup-simplify]: Simplify (+ 0) into 0 5.407 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.408 * [backup-simplify]: Simplify (- 0) into 0 5.408 * [backup-simplify]: Simplify (+ 0 0) into 0 5.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.408 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.409 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) into (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) 5.409 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.409 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) 5.410 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) 5.410 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 5.410 * [backup-simplify]: Simplify (+ 0) into 0 5.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.411 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.416 * [backup-simplify]: Simplify (+ 0 0) into 0 5.417 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) lambda1) (* 0 0)) into (* (sin (/ 0.5 phi2)) lambda1) 5.417 * [backup-simplify]: Simplify (+ 0) into 0 5.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.419 * [backup-simplify]: Simplify (- 0) into 0 5.419 * [backup-simplify]: Simplify (+ 0 0) into 0 5.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) lambda1)) (* 0 0)) into (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.421 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* 0 0)) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.422 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.423 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.424 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.424 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 5.424 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 5.424 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 5.424 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 5.424 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 5.424 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 5.424 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.424 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.424 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.424 * [backup-simplify]: Simplify 0.5 into 0.5 5.424 * [taylor]: Taking taylor expansion of phi1 in phi1 5.424 * [backup-simplify]: Simplify 0 into 0 5.424 * [backup-simplify]: Simplify 1 into 1 5.425 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.425 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.425 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 5.425 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.425 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.425 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.425 * [backup-simplify]: Simplify 0.5 into 0.5 5.425 * [taylor]: Taking taylor expansion of phi2 in phi1 5.425 * [backup-simplify]: Simplify phi2 into phi2 5.425 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.425 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.425 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.425 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.425 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.425 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 5.425 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 5.425 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.425 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.425 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.425 * [backup-simplify]: Simplify 0.5 into 0.5 5.425 * [taylor]: Taking taylor expansion of phi1 in phi1 5.425 * [backup-simplify]: Simplify 0 into 0 5.425 * [backup-simplify]: Simplify 1 into 1 5.426 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.426 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.426 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 5.426 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.426 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.426 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.426 * [backup-simplify]: Simplify 0.5 into 0.5 5.426 * [taylor]: Taking taylor expansion of phi2 in phi1 5.426 * [backup-simplify]: Simplify phi2 into phi2 5.426 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.426 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.426 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.426 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.426 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.426 * [backup-simplify]: Simplify (- 0) into 0 5.426 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.427 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 5.427 * [taylor]: Taking taylor expansion of 2 in phi1 5.427 * [backup-simplify]: Simplify 2 into 2 5.427 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 5.427 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.427 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.427 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.427 * [backup-simplify]: Simplify 0.5 into 0.5 5.427 * [taylor]: Taking taylor expansion of phi1 in phi1 5.427 * [backup-simplify]: Simplify 0 into 0 5.427 * [backup-simplify]: Simplify 1 into 1 5.427 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.427 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.427 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 5.427 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.427 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.427 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.427 * [backup-simplify]: Simplify 0.5 into 0.5 5.427 * [taylor]: Taking taylor expansion of phi1 in phi1 5.427 * [backup-simplify]: Simplify 0 into 0 5.427 * [backup-simplify]: Simplify 1 into 1 5.428 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.428 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.428 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 5.428 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.428 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.428 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.428 * [backup-simplify]: Simplify 0.5 into 0.5 5.428 * [taylor]: Taking taylor expansion of phi2 in phi1 5.428 * [backup-simplify]: Simplify phi2 into phi2 5.428 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.428 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.428 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.428 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.428 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.428 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.428 * [backup-simplify]: Simplify 0.5 into 0.5 5.428 * [taylor]: Taking taylor expansion of phi2 in phi1 5.428 * [backup-simplify]: Simplify phi2 into phi2 5.428 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.428 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.428 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.428 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.428 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.429 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.429 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.429 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.429 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.429 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.429 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.429 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.430 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.430 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.430 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.430 * [backup-simplify]: Simplify (- 0) into 0 5.430 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.430 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.430 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.430 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.431 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.431 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.432 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.432 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.433 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.434 * [backup-simplify]: Simplify (+ 0) into 0 5.434 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.435 * [backup-simplify]: Simplify (+ 0 0) into 0 5.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.436 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.436 * [backup-simplify]: Simplify (+ 0) into 0 5.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.438 * [backup-simplify]: Simplify (- 0) into 0 5.438 * [backup-simplify]: Simplify (+ 0 0) into 0 5.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.438 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.439 * [backup-simplify]: Simplify (+ 0 0) into 0 5.439 * [backup-simplify]: Simplify (+ 0) into 0 5.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.440 * [backup-simplify]: Simplify (- 0) into 0 5.441 * [backup-simplify]: Simplify (+ 0 0) into 0 5.441 * [backup-simplify]: Simplify (+ 0) into 0 5.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.441 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.442 * [backup-simplify]: Simplify (+ 0 0) into 0 5.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.443 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.443 * [backup-simplify]: Simplify (- 0) into 0 5.444 * [backup-simplify]: Simplify (+ 0 0) into 0 5.445 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.446 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.448 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 5.450 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.450 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda1 5.450 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda1 5.450 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1 5.450 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.450 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.450 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.450 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.450 * [backup-simplify]: Simplify 0.5 into 0.5 5.450 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.450 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.450 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.450 * [backup-simplify]: Simplify phi1 into phi1 5.450 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.450 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.450 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.450 * [backup-simplify]: Simplify phi2 into phi2 5.450 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.451 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.451 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.451 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.451 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.451 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.451 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.451 * [backup-simplify]: Simplify (- 0) into 0 5.452 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.452 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1 5.452 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) in lambda1 5.452 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) in lambda1 5.452 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 5.452 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.452 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.452 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.452 * [backup-simplify]: Simplify 0.5 into 0.5 5.452 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.452 * [backup-simplify]: Simplify phi1 into phi1 5.452 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.452 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.452 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.452 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.452 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.452 * [taylor]: Taking taylor expansion of (* lambda1 (pow (sin (/ 0.5 phi2)) 2)) in lambda1 5.452 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.452 * [backup-simplify]: Simplify 0 into 0 5.452 * [backup-simplify]: Simplify 1 into 1 5.452 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 5.452 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.452 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.452 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.452 * [backup-simplify]: Simplify 0.5 into 0.5 5.452 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.452 * [backup-simplify]: Simplify phi2 into phi2 5.452 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.452 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.452 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.452 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.453 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.453 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) in lambda1 5.453 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 5.453 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.453 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.453 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.453 * [backup-simplify]: Simplify 0.5 into 0.5 5.453 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.453 * [backup-simplify]: Simplify phi1 into phi1 5.453 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.453 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.453 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.453 * [backup-simplify]: Simplify (- 0) into 0 5.453 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.453 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) in lambda1 5.453 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.453 * [backup-simplify]: Simplify 0 into 0 5.454 * [backup-simplify]: Simplify 1 into 1 5.454 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 5.454 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.454 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.454 * [backup-simplify]: Simplify 0.5 into 0.5 5.454 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.454 * [backup-simplify]: Simplify phi2 into phi2 5.454 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.454 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.454 * [backup-simplify]: Simplify (- 0) into 0 5.454 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.454 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1 5.454 * [taylor]: Taking taylor expansion of 2 in lambda1 5.454 * [backup-simplify]: Simplify 2 into 2 5.454 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1 5.454 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.454 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.454 * [backup-simplify]: Simplify 0.5 into 0.5 5.454 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.454 * [backup-simplify]: Simplify phi1 into phi1 5.454 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.455 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 5.455 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.455 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.455 * [backup-simplify]: Simplify 0.5 into 0.5 5.455 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.455 * [backup-simplify]: Simplify phi1 into phi1 5.455 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.455 * [taylor]: Taking taylor expansion of (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 5.455 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.455 * [backup-simplify]: Simplify 0 into 0 5.455 * [backup-simplify]: Simplify 1 into 1 5.455 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 5.455 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.455 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.455 * [backup-simplify]: Simplify 0.5 into 0.5 5.455 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.455 * [backup-simplify]: Simplify phi2 into phi2 5.455 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.455 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.455 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.455 * [backup-simplify]: Simplify 0.5 into 0.5 5.455 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.455 * [backup-simplify]: Simplify phi2 into phi2 5.455 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.456 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.456 * [backup-simplify]: Simplify (* 0 (pow (sin (/ 0.5 phi2)) 2)) into 0 5.456 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0 5.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.456 * [backup-simplify]: Simplify (* 0 (pow (cos (/ 0.5 phi2)) 2)) into 0 5.457 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0 5.457 * [backup-simplify]: Simplify (+ 0 0) into 0 5.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.457 * [backup-simplify]: Simplify (- 0) into 0 5.457 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.458 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.458 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.458 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.458 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.458 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.458 * [backup-simplify]: Simplify (- 0) into 0 5.458 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.458 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.459 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into 0 5.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.459 * [backup-simplify]: Simplify (* 2 0) into 0 5.459 * [backup-simplify]: Simplify (- 0) into 0 5.460 * [backup-simplify]: Simplify (+ 0 0) into 0 5.460 * [backup-simplify]: Simplify (+ 0) into 0 5.460 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.460 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.461 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.461 * [backup-simplify]: Simplify (+ 0 0) into 0 5.462 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.462 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (sin (/ 0.5 phi2)) 2))) into (pow (sin (/ 0.5 phi2)) 2) 5.462 * [backup-simplify]: Simplify (+ 0) into 0 5.463 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.464 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.464 * [backup-simplify]: Simplify (+ 0 0) into 0 5.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.464 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.465 * [backup-simplify]: Simplify (+ 0) into 0 5.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.465 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.466 * [backup-simplify]: Simplify (- 0) into 0 5.466 * [backup-simplify]: Simplify (+ 0 0) into 0 5.467 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.467 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (/ 0.5 phi2)) 2))) into (pow (cos (/ 0.5 phi2)) 2) 5.467 * [backup-simplify]: Simplify (+ 0) into 0 5.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.468 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.468 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.469 * [backup-simplify]: Simplify (- 0) into 0 5.469 * [backup-simplify]: Simplify (+ 0 0) into 0 5.469 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.470 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.470 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.470 * [backup-simplify]: Simplify (+ 0) into 0 5.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.471 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.472 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.472 * [backup-simplify]: Simplify (- 0) into 0 5.472 * [backup-simplify]: Simplify (+ 0 0) into 0 5.473 * [backup-simplify]: Simplify (+ 0) into 0 5.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.473 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.474 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.474 * [backup-simplify]: Simplify (+ 0 0) into 0 5.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.474 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.475 * [backup-simplify]: Simplify (+ 0) into 0 5.475 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.476 * [backup-simplify]: Simplify (+ 0 0) into 0 5.477 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.477 * [backup-simplify]: Simplify (+ 0) into 0 5.477 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.478 * [backup-simplify]: Simplify (- 0) into 0 5.479 * [backup-simplify]: Simplify (+ 0 0) into 0 5.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.479 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* 0 0)) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.480 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.481 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.481 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.481 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1 5.482 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1 5.482 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1 5.482 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1 5.482 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 5.482 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 5.482 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.482 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.482 * [backup-simplify]: Simplify 0.5 into 0.5 5.482 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.482 * [backup-simplify]: Simplify phi1 into phi1 5.482 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.482 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.482 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 5.482 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.482 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.482 * [backup-simplify]: Simplify 0.5 into 0.5 5.482 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.482 * [backup-simplify]: Simplify phi2 into phi2 5.482 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.483 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.483 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 5.483 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 5.483 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.483 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.483 * [backup-simplify]: Simplify 0.5 into 0.5 5.483 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.483 * [backup-simplify]: Simplify phi1 into phi1 5.483 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.483 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.483 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.483 * [backup-simplify]: Simplify (- 0) into 0 5.483 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.483 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 5.483 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.483 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.484 * [backup-simplify]: Simplify 0.5 into 0.5 5.484 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.484 * [backup-simplify]: Simplify phi2 into phi2 5.484 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.484 * [backup-simplify]: Simplify (- 0) into 0 5.484 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.484 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1 5.484 * [taylor]: Taking taylor expansion of 2 in lambda1 5.484 * [backup-simplify]: Simplify 2 into 2 5.484 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 5.484 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.484 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.484 * [backup-simplify]: Simplify 0.5 into 0.5 5.484 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.484 * [backup-simplify]: Simplify phi1 into phi1 5.484 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.485 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 5.485 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.485 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.485 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.485 * [backup-simplify]: Simplify 0.5 into 0.5 5.485 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.485 * [backup-simplify]: Simplify phi1 into phi1 5.485 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.485 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.485 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.485 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 5.485 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.485 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.485 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.485 * [backup-simplify]: Simplify 0.5 into 0.5 5.485 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.485 * [backup-simplify]: Simplify phi2 into phi2 5.485 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.485 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.485 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.485 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.485 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.485 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.485 * [backup-simplify]: Simplify 0.5 into 0.5 5.485 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.485 * [backup-simplify]: Simplify phi2 into phi2 5.485 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.485 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.485 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.486 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.486 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.487 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.487 * [backup-simplify]: Simplify (- 0) into 0 5.487 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.487 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.488 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.488 * [backup-simplify]: Simplify (- 0) into 0 5.488 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.488 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.489 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.489 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.490 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.490 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.491 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.492 * [backup-simplify]: Simplify (+ 0) into 0 5.492 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.492 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.493 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.494 * [backup-simplify]: Simplify (+ 0 0) into 0 5.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.494 * [backup-simplify]: Simplify (+ 0) into 0 5.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.495 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.496 * [backup-simplify]: Simplify (+ 0 0) into 0 5.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.496 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.496 * [backup-simplify]: Simplify (+ 0) into 0 5.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.497 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.498 * [backup-simplify]: Simplify (- 0) into 0 5.498 * [backup-simplify]: Simplify (+ 0 0) into 0 5.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.499 * [backup-simplify]: Simplify (+ 0) into 0 5.499 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.500 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.500 * [backup-simplify]: Simplify (- 0) into 0 5.501 * [backup-simplify]: Simplify (+ 0 0) into 0 5.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.501 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.501 * [backup-simplify]: Simplify (+ 0 0) into 0 5.502 * [backup-simplify]: Simplify (+ 0) into 0 5.502 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.503 * [backup-simplify]: Simplify (- 0) into 0 5.503 * [backup-simplify]: Simplify (+ 0 0) into 0 5.504 * [backup-simplify]: Simplify (+ 0) into 0 5.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.505 * [backup-simplify]: Simplify (+ 0 0) into 0 5.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.505 * [backup-simplify]: Simplify (+ 0) into 0 5.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.507 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.507 * [backup-simplify]: Simplify (+ 0 0) into 0 5.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.507 * [backup-simplify]: Simplify (+ 0) into 0 5.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.508 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.509 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.509 * [backup-simplify]: Simplify (- 0) into 0 5.509 * [backup-simplify]: Simplify (+ 0 0) into 0 5.509 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.510 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.510 * [backup-simplify]: Simplify (- 0) into 0 5.510 * [backup-simplify]: Simplify (+ 0 0) into 0 5.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.513 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.515 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 5.516 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 5.517 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 5.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 5.519 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.520 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.521 * [backup-simplify]: Simplify (+ 0 0) into 0 5.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 5.522 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 5.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 5.527 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.528 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.529 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.529 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.530 * [backup-simplify]: Simplify (- 0) into 0 5.530 * [backup-simplify]: Simplify (+ 0 0) into 0 5.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 5.532 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 5.532 * [backup-simplify]: Simplify (+ 0 0) into 0 5.533 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 5.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.535 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.535 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.536 * [backup-simplify]: Simplify (+ 0 0) into 0 5.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.537 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.537 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.538 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.539 * [backup-simplify]: Simplify (- 0) into 0 5.539 * [backup-simplify]: Simplify (+ 0 0) into 0 5.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.540 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 5.540 * [backup-simplify]: Simplify (- 0) into 0 5.540 * [backup-simplify]: Simplify (+ 0 0) into 0 5.543 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.544 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.545 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.545 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.546 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 5.546 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 5.547 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 5.547 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.547 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 5.548 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2))) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.549 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 5.551 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2)))) 5.554 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 phi1))) 0) (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)))) 5.559 * [backup-simplify]: Simplify (+ (* 1/2 (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))))) (+ (* 0 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))))) 5.560 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))))) in phi1 5.560 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi1 5.560 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 5.560 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.560 * [backup-simplify]: Simplify 1/2 into 1/2 5.560 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 5.560 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 5.560 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.560 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.560 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.560 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.560 * [backup-simplify]: Simplify 0.5 into 0.5 5.560 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.560 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.560 * [taylor]: Taking taylor expansion of phi1 in phi1 5.560 * [backup-simplify]: Simplify 0 into 0 5.560 * [backup-simplify]: Simplify 1 into 1 5.560 * [backup-simplify]: Simplify (/ 1 1) into 1 5.560 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.560 * [taylor]: Taking taylor expansion of phi2 in phi1 5.561 * [backup-simplify]: Simplify phi2 into phi2 5.561 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.561 * [backup-simplify]: Simplify (+ 1 0) into 1 5.561 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.561 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.561 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.561 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.561 * [backup-simplify]: Simplify lambda1 into lambda1 5.562 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.562 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.562 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.562 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 5.562 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 5.562 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 5.562 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 5.562 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 5.562 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 5.562 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.562 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.562 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.562 * [backup-simplify]: Simplify 0.5 into 0.5 5.562 * [taylor]: Taking taylor expansion of phi1 in phi1 5.562 * [backup-simplify]: Simplify 0 into 0 5.562 * [backup-simplify]: Simplify 1 into 1 5.562 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.563 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 5.563 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.563 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.563 * [backup-simplify]: Simplify 0.5 into 0.5 5.563 * [taylor]: Taking taylor expansion of phi2 in phi1 5.563 * [backup-simplify]: Simplify phi2 into phi2 5.563 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.563 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.563 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.563 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 5.563 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 5.563 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.563 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.563 * [backup-simplify]: Simplify 0.5 into 0.5 5.563 * [taylor]: Taking taylor expansion of phi1 in phi1 5.563 * [backup-simplify]: Simplify 0 into 0 5.563 * [backup-simplify]: Simplify 1 into 1 5.563 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.564 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 5.564 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.564 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.564 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.564 * [backup-simplify]: Simplify 0.5 into 0.5 5.564 * [taylor]: Taking taylor expansion of phi2 in phi1 5.564 * [backup-simplify]: Simplify phi2 into phi2 5.564 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.564 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.564 * [backup-simplify]: Simplify (- 0) into 0 5.564 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.564 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 5.564 * [taylor]: Taking taylor expansion of 2 in phi1 5.564 * [backup-simplify]: Simplify 2 into 2 5.564 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 5.564 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.564 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.564 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.564 * [backup-simplify]: Simplify 0.5 into 0.5 5.564 * [taylor]: Taking taylor expansion of phi1 in phi1 5.564 * [backup-simplify]: Simplify 0 into 0 5.564 * [backup-simplify]: Simplify 1 into 1 5.565 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.565 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.565 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 5.565 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.565 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.565 * [backup-simplify]: Simplify 0.5 into 0.5 5.565 * [taylor]: Taking taylor expansion of phi1 in phi1 5.565 * [backup-simplify]: Simplify 0 into 0 5.565 * [backup-simplify]: Simplify 1 into 1 5.565 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.565 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 5.565 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.565 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.565 * [backup-simplify]: Simplify 0.5 into 0.5 5.565 * [taylor]: Taking taylor expansion of phi2 in phi1 5.565 * [backup-simplify]: Simplify phi2 into phi2 5.565 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.566 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.566 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.566 * [backup-simplify]: Simplify 0.5 into 0.5 5.566 * [taylor]: Taking taylor expansion of phi2 in phi1 5.566 * [backup-simplify]: Simplify phi2 into phi2 5.566 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.566 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.566 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.566 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.567 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.567 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.567 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.568 * [backup-simplify]: Simplify (- 0) into 0 5.568 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.568 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.569 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.569 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.570 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.571 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.572 * [backup-simplify]: Simplify (+ 0) into 0 5.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.573 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.573 * [backup-simplify]: Simplify (+ 0 0) into 0 5.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.574 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.574 * [backup-simplify]: Simplify (+ 0) into 0 5.574 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.574 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.576 * [backup-simplify]: Simplify (- 0) into 0 5.576 * [backup-simplify]: Simplify (+ 0 0) into 0 5.576 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.576 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.576 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.577 * [backup-simplify]: Simplify (+ 0 0) into 0 5.577 * [backup-simplify]: Simplify (+ 0) into 0 5.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.578 * [backup-simplify]: Simplify (- 0) into 0 5.579 * [backup-simplify]: Simplify (+ 0 0) into 0 5.579 * [backup-simplify]: Simplify (+ 0) into 0 5.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.579 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.580 * [backup-simplify]: Simplify (+ 0 0) into 0 5.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.581 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.581 * [backup-simplify]: Simplify (- 0) into 0 5.582 * [backup-simplify]: Simplify (+ 0 0) into 0 5.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.584 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.584 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 5.584 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.584 * [backup-simplify]: Simplify 1/2 into 1/2 5.584 * [taylor]: Taking taylor expansion of (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 5.584 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.584 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.584 * [taylor]: Taking taylor expansion of phi1 in phi1 5.584 * [backup-simplify]: Simplify 0 into 0 5.584 * [backup-simplify]: Simplify 1 into 1 5.585 * [backup-simplify]: Simplify (* 1 1) into 1 5.585 * [backup-simplify]: Simplify (/ 1 1) into 1 5.585 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 5.585 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 5.585 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 5.585 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 5.585 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 5.585 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 5.585 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.585 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.585 * [backup-simplify]: Simplify 0.5 into 0.5 5.585 * [taylor]: Taking taylor expansion of phi1 in phi1 5.585 * [backup-simplify]: Simplify 0 into 0 5.585 * [backup-simplify]: Simplify 1 into 1 5.585 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.586 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 5.586 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.586 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.586 * [backup-simplify]: Simplify 0.5 into 0.5 5.586 * [taylor]: Taking taylor expansion of phi2 in phi1 5.586 * [backup-simplify]: Simplify phi2 into phi2 5.586 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.586 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.586 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.586 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.586 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.586 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 5.586 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 5.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.586 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.586 * [backup-simplify]: Simplify 0.5 into 0.5 5.586 * [taylor]: Taking taylor expansion of phi1 in phi1 5.586 * [backup-simplify]: Simplify 0 into 0 5.586 * [backup-simplify]: Simplify 1 into 1 5.586 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.587 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 5.587 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.587 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.587 * [backup-simplify]: Simplify 0.5 into 0.5 5.587 * [taylor]: Taking taylor expansion of phi2 in phi1 5.587 * [backup-simplify]: Simplify phi2 into phi2 5.587 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.587 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.587 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.587 * [backup-simplify]: Simplify (- 0) into 0 5.587 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.587 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 5.587 * [taylor]: Taking taylor expansion of 2 in phi1 5.587 * [backup-simplify]: Simplify 2 into 2 5.587 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 5.587 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.587 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.587 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.587 * [backup-simplify]: Simplify 0.5 into 0.5 5.587 * [taylor]: Taking taylor expansion of phi1 in phi1 5.588 * [backup-simplify]: Simplify 0 into 0 5.588 * [backup-simplify]: Simplify 1 into 1 5.588 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.588 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.588 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 5.588 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.588 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.588 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.588 * [backup-simplify]: Simplify 0.5 into 0.5 5.588 * [taylor]: Taking taylor expansion of phi1 in phi1 5.588 * [backup-simplify]: Simplify 0 into 0 5.588 * [backup-simplify]: Simplify 1 into 1 5.588 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.588 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.588 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 5.588 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.588 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.588 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.588 * [backup-simplify]: Simplify 0.5 into 0.5 5.588 * [taylor]: Taking taylor expansion of phi2 in phi1 5.589 * [backup-simplify]: Simplify phi2 into phi2 5.589 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.589 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.589 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.589 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.589 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.589 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.589 * [backup-simplify]: Simplify 0.5 into 0.5 5.589 * [taylor]: Taking taylor expansion of phi2 in phi1 5.589 * [backup-simplify]: Simplify phi2 into phi2 5.589 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.589 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.589 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.589 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.590 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.590 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.590 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.591 * [backup-simplify]: Simplify (- 0) into 0 5.591 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.591 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.591 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.592 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.592 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.593 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.594 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.594 * [backup-simplify]: Simplify (+ 0) into 0 5.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.596 * [backup-simplify]: Simplify (+ 0 0) into 0 5.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.596 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.597 * [backup-simplify]: Simplify (+ 0) into 0 5.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.597 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.598 * [backup-simplify]: Simplify (- 0) into 0 5.598 * [backup-simplify]: Simplify (+ 0 0) into 0 5.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.599 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.599 * [backup-simplify]: Simplify (+ 0 0) into 0 5.599 * [backup-simplify]: Simplify (+ 0) into 0 5.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.601 * [backup-simplify]: Simplify (- 0) into 0 5.601 * [backup-simplify]: Simplify (+ 0 0) into 0 5.601 * [backup-simplify]: Simplify (+ 0) into 0 5.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.602 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.603 * [backup-simplify]: Simplify (+ 0 0) into 0 5.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.604 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.604 * [backup-simplify]: Simplify (- 0) into 0 5.604 * [backup-simplify]: Simplify (+ 0 0) into 0 5.606 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.607 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.607 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)))) in phi1 5.607 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.607 * [backup-simplify]: Simplify 1/2 into 1/2 5.607 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))) in phi1 5.607 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi1 5.607 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi1 5.607 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi1 5.607 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 5.607 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 5.607 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 5.607 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 5.607 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.607 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.607 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.607 * [backup-simplify]: Simplify 0.5 into 0.5 5.607 * [taylor]: Taking taylor expansion of phi1 in phi1 5.607 * [backup-simplify]: Simplify 0 into 0 5.607 * [backup-simplify]: Simplify 1 into 1 5.607 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.607 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.607 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 5.607 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.608 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.608 * [backup-simplify]: Simplify 0.5 into 0.5 5.608 * [taylor]: Taking taylor expansion of phi2 in phi1 5.608 * [backup-simplify]: Simplify phi2 into phi2 5.608 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.608 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.608 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.608 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.608 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 5.608 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 5.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.608 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.608 * [backup-simplify]: Simplify 0.5 into 0.5 5.608 * [taylor]: Taking taylor expansion of phi1 in phi1 5.608 * [backup-simplify]: Simplify 0 into 0 5.608 * [backup-simplify]: Simplify 1 into 1 5.608 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.608 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 5.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.608 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.609 * [backup-simplify]: Simplify 0.5 into 0.5 5.609 * [taylor]: Taking taylor expansion of phi2 in phi1 5.609 * [backup-simplify]: Simplify phi2 into phi2 5.609 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.609 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.609 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.609 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.609 * [backup-simplify]: Simplify (- 0) into 0 5.609 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.609 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 5.609 * [taylor]: Taking taylor expansion of 2 in phi1 5.609 * [backup-simplify]: Simplify 2 into 2 5.609 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 5.609 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 5.609 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.609 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.609 * [backup-simplify]: Simplify 0.5 into 0.5 5.609 * [taylor]: Taking taylor expansion of phi1 in phi1 5.609 * [backup-simplify]: Simplify 0 into 0 5.609 * [backup-simplify]: Simplify 1 into 1 5.610 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.610 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.610 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 5.610 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 5.610 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 5.610 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.610 * [backup-simplify]: Simplify 0.5 into 0.5 5.610 * [taylor]: Taking taylor expansion of phi1 in phi1 5.610 * [backup-simplify]: Simplify 0 into 0 5.610 * [backup-simplify]: Simplify 1 into 1 5.610 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 5.610 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.610 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 5.610 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 5.610 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.610 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.610 * [backup-simplify]: Simplify 0.5 into 0.5 5.610 * [taylor]: Taking taylor expansion of phi2 in phi1 5.610 * [backup-simplify]: Simplify phi2 into phi2 5.610 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.610 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.610 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.610 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 5.610 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 5.610 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.610 * [backup-simplify]: Simplify 0.5 into 0.5 5.610 * [taylor]: Taking taylor expansion of phi2 in phi1 5.611 * [backup-simplify]: Simplify phi2 into phi2 5.611 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.611 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.611 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.611 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.611 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.611 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.611 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.612 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.612 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.612 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.612 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.612 * [backup-simplify]: Simplify (- 0) into 0 5.613 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.613 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.613 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.613 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.613 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.613 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.614 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.616 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 5.617 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 5.618 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 5.619 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 5.619 * [backup-simplify]: Simplify (+ 0) into 0 5.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.620 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.621 * [backup-simplify]: Simplify (+ 0 0) into 0 5.621 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.621 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.621 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.621 * [backup-simplify]: Simplify (+ 0) into 0 5.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.623 * [backup-simplify]: Simplify (- 0) into 0 5.623 * [backup-simplify]: Simplify (+ 0 0) into 0 5.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.624 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.624 * [backup-simplify]: Simplify (+ 0 0) into 0 5.624 * [backup-simplify]: Simplify (+ 0) into 0 5.624 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.625 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.626 * [backup-simplify]: Simplify (- 0) into 0 5.626 * [backup-simplify]: Simplify (+ 0 0) into 0 5.626 * [backup-simplify]: Simplify (+ 0) into 0 5.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.627 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.627 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.627 * [backup-simplify]: Simplify (+ 0 0) into 0 5.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.628 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.629 * [backup-simplify]: Simplify (- 0) into 0 5.629 * [backup-simplify]: Simplify (+ 0 0) into 0 5.630 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 5.632 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 5.634 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 5.635 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 5.635 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) in phi1 5.635 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi1 5.635 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.635 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.635 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.635 * [backup-simplify]: Simplify 0.5 into 0.5 5.635 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.635 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.635 * [taylor]: Taking taylor expansion of phi1 in phi1 5.635 * [backup-simplify]: Simplify 0 into 0 5.635 * [backup-simplify]: Simplify 1 into 1 5.640 * [backup-simplify]: Simplify (/ 1 1) into 1 5.640 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.640 * [taylor]: Taking taylor expansion of phi2 in phi1 5.640 * [backup-simplify]: Simplify phi2 into phi2 5.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.640 * [backup-simplify]: Simplify (+ 1 0) into 1 5.641 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.641 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.641 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.641 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.641 * [backup-simplify]: Simplify lambda1 into lambda1 5.641 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.641 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) 5.641 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.642 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) 5.642 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.643 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.644 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.644 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.646 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.646 * [backup-simplify]: Simplify (+ 0 0) into 0 5.646 * [backup-simplify]: Simplify (+ 0 0) into 0 5.646 * [taylor]: Taking taylor expansion of 0 in lambda1 5.646 * [backup-simplify]: Simplify 0 into 0 5.646 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.647 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 5.648 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 5.649 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 5.649 * [taylor]: Taking taylor expansion of 0 in phi1 5.649 * [backup-simplify]: Simplify 0 into 0 5.649 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 5.650 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.650 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.651 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.652 * [backup-simplify]: Simplify (+ 0 0) into 0 5.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 5.653 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 5.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 5.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.654 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.655 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.655 * [backup-simplify]: Simplify (- 0) into 0 5.656 * [backup-simplify]: Simplify (+ 0 0) into 0 5.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 5.656 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 5.657 * [backup-simplify]: Simplify (+ 0 0) into 0 5.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 5.658 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.658 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.659 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.659 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.659 * [backup-simplify]: Simplify (+ 0 0) into 0 5.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.661 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.662 * [backup-simplify]: Simplify (- 0) into 0 5.662 * [backup-simplify]: Simplify (+ 0 0) into 0 5.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.663 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 5.663 * [backup-simplify]: Simplify (- 0) into 0 5.664 * [backup-simplify]: Simplify (+ 0 0) into 0 5.665 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 5.665 * [taylor]: Taking taylor expansion of 0 in phi1 5.665 * [backup-simplify]: Simplify 0 into 0 5.665 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.666 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.667 * [backup-simplify]: Simplify (- 0) into 0 5.667 * [taylor]: Taking taylor expansion of 0 in lambda1 5.667 * [backup-simplify]: Simplify 0 into 0 5.668 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.669 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.669 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1 5.669 * [taylor]: Taking taylor expansion of -1 in lambda1 5.669 * [backup-simplify]: Simplify -1 into -1 5.669 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 5.669 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1 5.669 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1 5.669 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1 5.669 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1 5.669 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 5.669 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 5.669 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.669 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.669 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.669 * [backup-simplify]: Simplify 0.5 into 0.5 5.669 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.669 * [backup-simplify]: Simplify phi1 into phi1 5.669 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.669 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.669 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.669 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.669 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.669 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.669 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 5.670 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.670 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.670 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.670 * [backup-simplify]: Simplify 0.5 into 0.5 5.670 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.670 * [backup-simplify]: Simplify phi2 into phi2 5.670 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.670 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.670 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.670 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.670 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 5.670 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 5.670 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.670 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.670 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.670 * [backup-simplify]: Simplify 0.5 into 0.5 5.670 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.670 * [backup-simplify]: Simplify phi1 into phi1 5.670 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.670 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.670 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.671 * [backup-simplify]: Simplify (- 0) into 0 5.671 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.671 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 5.671 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.671 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.671 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.671 * [backup-simplify]: Simplify 0.5 into 0.5 5.671 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.671 * [backup-simplify]: Simplify phi2 into phi2 5.671 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.671 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.671 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.671 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.671 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.671 * [backup-simplify]: Simplify (- 0) into 0 5.671 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.671 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1 5.671 * [taylor]: Taking taylor expansion of 2 in lambda1 5.672 * [backup-simplify]: Simplify 2 into 2 5.672 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 5.672 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 5.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.672 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.672 * [backup-simplify]: Simplify 0.5 into 0.5 5.672 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.672 * [backup-simplify]: Simplify phi1 into phi1 5.672 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.672 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.672 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 5.672 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 5.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 5.672 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.672 * [backup-simplify]: Simplify 0.5 into 0.5 5.672 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.672 * [backup-simplify]: Simplify phi1 into phi1 5.672 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 5.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 5.672 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 5.672 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 5.672 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 5.672 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.672 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.672 * [backup-simplify]: Simplify 0.5 into 0.5 5.672 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.672 * [backup-simplify]: Simplify phi2 into phi2 5.672 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.672 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.673 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 5.673 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 5.673 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.673 * [backup-simplify]: Simplify 0.5 into 0.5 5.673 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.673 * [backup-simplify]: Simplify phi2 into phi2 5.673 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 5.673 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 5.673 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 5.673 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 5.673 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 5.673 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 5.673 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 5.673 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 5.674 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 5.674 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 5.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 5.674 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 5.674 * [backup-simplify]: Simplify (- 0) into 0 5.674 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 5.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 5.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 5.675 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 5.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 5.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 5.675 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 5.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 5.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 5.675 * [backup-simplify]: Simplify (- 0) into 0 5.675 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 5.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 5.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 5.676 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 5.676 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 5.676 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.677 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5.678 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 5.678 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 5.679 * [backup-simplify]: Simplify (+ 0) into 0 5.679 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.679 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.680 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.680 * [backup-simplify]: Simplify (+ 0 0) into 0 5.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 5.680 * [backup-simplify]: Simplify (+ 0) into 0 5.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.681 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.682 * [backup-simplify]: Simplify (+ 0 0) into 0 5.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 5.682 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 5.682 * [backup-simplify]: Simplify (+ 0) into 0 5.683 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.683 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.684 * [backup-simplify]: Simplify (- 0) into 0 5.684 * [backup-simplify]: Simplify (+ 0 0) into 0 5.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.684 * [backup-simplify]: Simplify (+ 0) into 0 5.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.686 * [backup-simplify]: Simplify (- 0) into 0 5.686 * [backup-simplify]: Simplify (+ 0 0) into 0 5.686 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 5.686 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 5.687 * [backup-simplify]: Simplify (+ 0 0) into 0 5.687 * [backup-simplify]: Simplify (+ 0) into 0 5.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.688 * [backup-simplify]: Simplify (- 0) into 0 5.689 * [backup-simplify]: Simplify (+ 0 0) into 0 5.689 * [backup-simplify]: Simplify (+ 0) into 0 5.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 5.689 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 5.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 5.690 * [backup-simplify]: Simplify (+ 0 0) into 0 5.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 5.691 * [backup-simplify]: Simplify (+ 0) into 0 5.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.691 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.692 * [backup-simplify]: Simplify (+ 0 0) into 0 5.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 5.692 * [backup-simplify]: Simplify (+ 0) into 0 5.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 5.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 5.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.694 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 5.694 * [backup-simplify]: Simplify (- 0) into 0 5.694 * [backup-simplify]: Simplify (+ 0 0) into 0 5.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 5.695 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 5.695 * [backup-simplify]: Simplify (- 0) into 0 5.695 * [backup-simplify]: Simplify (+ 0 0) into 0 5.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.698 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 5.698 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 5.698 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.698 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.698 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.698 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.698 * [backup-simplify]: Simplify 0.5 into 0.5 5.698 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.698 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.698 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.698 * [backup-simplify]: Simplify phi1 into phi1 5.698 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.698 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.698 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.698 * [backup-simplify]: Simplify phi2 into phi2 5.698 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.698 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.698 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.698 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.698 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.698 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.698 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.699 * [backup-simplify]: Simplify (- 0) into 0 5.699 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.699 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.699 * [backup-simplify]: Simplify 0 into 0 5.699 * [backup-simplify]: Simplify 1 into 1 5.699 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.699 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.700 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 5.701 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.702 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 5.702 * [taylor]: Taking taylor expansion of 0 in lambda1 5.702 * [backup-simplify]: Simplify 0 into 0 5.702 * [taylor]: Taking taylor expansion of 0 in lambda1 5.702 * [backup-simplify]: Simplify 0 into 0 5.703 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 5.704 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 5.709 * [backup-simplify]: Simplify (+ (* (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2))))))))))) (* 1 (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (/ 1 lambda2))))) (+ (* (* -1 (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))))))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1)))) (* (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (pow (/ 1 lambda2) 2))))))) into (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))))))) 5.711 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5)))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) 5.711 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in (lambda2 phi2 phi1 lambda1) around 0 5.711 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda1 5.711 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda1 5.711 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda1 5.711 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.711 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.711 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.711 * [backup-simplify]: Simplify phi2 into phi2 5.712 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.712 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.712 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 5.712 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.712 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.712 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.712 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.712 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.712 * [backup-simplify]: Simplify -0.5 into -0.5 5.712 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.712 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.712 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.712 * [backup-simplify]: Simplify phi1 into phi1 5.712 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.712 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.712 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.712 * [backup-simplify]: Simplify phi2 into phi2 5.712 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.712 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.712 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.712 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.712 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.712 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.713 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.713 * [backup-simplify]: Simplify (- 0) into 0 5.713 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.713 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.713 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.713 * [backup-simplify]: Simplify 0 into 0 5.713 * [backup-simplify]: Simplify 1 into 1 5.713 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.713 * [backup-simplify]: Simplify (* 1 1) into 1 5.714 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.714 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 5.714 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.714 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.714 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.714 * [backup-simplify]: Simplify phi1 into phi1 5.714 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.714 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.714 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 5.714 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 5.714 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 5.714 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 5.714 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 5.714 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 5.714 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.714 * [backup-simplify]: Simplify -0.5 into -0.5 5.714 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.714 * [backup-simplify]: Simplify phi2 into phi2 5.714 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.714 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.714 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.714 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.715 * [backup-simplify]: Simplify (- 0) into 0 5.715 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.715 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 5.715 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 5.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 5.715 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.715 * [backup-simplify]: Simplify -0.5 into -0.5 5.715 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.715 * [backup-simplify]: Simplify phi1 into phi1 5.715 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.715 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.715 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.715 * [backup-simplify]: Simplify (- 0) into 0 5.715 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.715 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.715 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.715 * [backup-simplify]: Simplify lambda2 into lambda2 5.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.716 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.716 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.716 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 5.716 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 5.716 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 5.716 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 5.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 5.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 5.716 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.716 * [backup-simplify]: Simplify -0.5 into -0.5 5.716 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.716 * [backup-simplify]: Simplify phi2 into phi2 5.716 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.716 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.717 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.717 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 5.717 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 5.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 5.717 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.717 * [backup-simplify]: Simplify -0.5 into -0.5 5.717 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.717 * [backup-simplify]: Simplify phi1 into phi1 5.717 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.717 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.717 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.717 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.717 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.717 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.717 * [backup-simplify]: Simplify lambda2 into lambda2 5.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.717 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.718 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.718 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 5.718 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 5.718 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 5.718 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1 5.718 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 5.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 5.718 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.718 * [backup-simplify]: Simplify -0.5 into -0.5 5.718 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.718 * [backup-simplify]: Simplify phi2 into phi2 5.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.718 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1 5.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 5.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 5.718 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.718 * [backup-simplify]: Simplify -0.5 into -0.5 5.718 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.718 * [backup-simplify]: Simplify phi2 into phi2 5.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.718 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1 5.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 5.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 5.718 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.718 * [backup-simplify]: Simplify -0.5 into -0.5 5.718 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.718 * [backup-simplify]: Simplify phi1 into phi1 5.719 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.719 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 5.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 5.719 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.719 * [backup-simplify]: Simplify -0.5 into -0.5 5.719 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.719 * [backup-simplify]: Simplify phi1 into phi1 5.719 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.719 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.719 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.719 * [backup-simplify]: Simplify lambda2 into lambda2 5.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.719 * [backup-simplify]: Simplify (- 0) into 0 5.719 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.720 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.720 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.720 * [backup-simplify]: Simplify (- 0) into 0 5.720 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 5.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 5.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 5.721 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.721 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 5.721 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 5.721 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 5.721 * [taylor]: Taking taylor expansion of 2 in lambda1 5.721 * [backup-simplify]: Simplify 2 into 2 5.721 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 5.721 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 5.721 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.721 * [backup-simplify]: Simplify phi2 into phi2 5.721 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.721 * [backup-simplify]: Simplify phi1 into phi1 5.721 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.721 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.721 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 5.721 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 5.721 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1 5.721 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 5.721 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 5.721 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.721 * [backup-simplify]: Simplify -0.5 into -0.5 5.721 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.721 * [backup-simplify]: Simplify phi2 into phi2 5.721 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.721 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.721 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.721 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1 5.721 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 5.721 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 5.722 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.722 * [backup-simplify]: Simplify -0.5 into -0.5 5.722 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.722 * [backup-simplify]: Simplify phi2 into phi2 5.722 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.722 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.722 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.722 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1 5.722 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 5.722 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 5.722 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.722 * [backup-simplify]: Simplify -0.5 into -0.5 5.722 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.722 * [backup-simplify]: Simplify phi1 into phi1 5.722 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.722 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.722 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.722 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 5.722 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 5.722 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.722 * [backup-simplify]: Simplify -0.5 into -0.5 5.722 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.722 * [backup-simplify]: Simplify phi1 into phi1 5.722 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.722 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.722 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.722 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.722 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.722 * [backup-simplify]: Simplify lambda2 into lambda2 5.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.723 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.723 * [backup-simplify]: Simplify (- 0) into 0 5.723 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.723 * [backup-simplify]: Simplify (- 0) into 0 5.724 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.724 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 5.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 5.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 5.724 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.724 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 5.724 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 5.724 * [taylor]: Taking taylor expansion of 2 in lambda1 5.724 * [backup-simplify]: Simplify 2 into 2 5.724 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 5.725 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.725 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.725 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.725 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.725 * [backup-simplify]: Simplify -0.5 into -0.5 5.725 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.725 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.725 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.725 * [backup-simplify]: Simplify phi1 into phi1 5.725 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.725 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.725 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.725 * [backup-simplify]: Simplify phi2 into phi2 5.725 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.725 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.725 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.725 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.725 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.725 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.725 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.726 * [backup-simplify]: Simplify (- 0) into 0 5.726 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.726 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 5.726 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.726 * [backup-simplify]: Simplify lambda2 into lambda2 5.726 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.726 * [backup-simplify]: Simplify 0 into 0 5.726 * [backup-simplify]: Simplify 1 into 1 5.726 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.726 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.726 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 5.727 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.727 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.727 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.727 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.727 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.728 * [backup-simplify]: Simplify (+ 0) into 0 5.728 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.728 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.728 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.729 * [backup-simplify]: Simplify (+ 0 0) into 0 5.729 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.730 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.730 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.730 * [backup-simplify]: Simplify (- 0) into 0 5.730 * [backup-simplify]: Simplify (+ 0 0) into 0 5.731 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.731 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.732 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.732 * [backup-simplify]: Simplify (+ 0 0) into 0 5.732 * [backup-simplify]: Simplify (+ 0 0) into 0 5.732 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.733 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.733 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.733 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.733 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.734 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.734 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.734 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi1 5.734 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1 5.734 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi1 5.734 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.734 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.734 * [taylor]: Taking taylor expansion of phi2 in phi1 5.734 * [backup-simplify]: Simplify phi2 into phi2 5.734 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.734 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.735 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 5.735 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 5.735 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.735 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.735 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.735 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.735 * [backup-simplify]: Simplify -0.5 into -0.5 5.735 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.735 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.735 * [taylor]: Taking taylor expansion of phi1 in phi1 5.735 * [backup-simplify]: Simplify 0 into 0 5.735 * [backup-simplify]: Simplify 1 into 1 5.735 * [backup-simplify]: Simplify (/ 1 1) into 1 5.735 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.735 * [taylor]: Taking taylor expansion of phi2 in phi1 5.735 * [backup-simplify]: Simplify phi2 into phi2 5.735 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.735 * [backup-simplify]: Simplify (+ 1 0) into 1 5.736 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.736 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.736 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.736 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.736 * [backup-simplify]: Simplify lambda1 into lambda1 5.736 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.736 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.736 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.736 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 5.736 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.736 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.736 * [taylor]: Taking taylor expansion of phi1 in phi1 5.736 * [backup-simplify]: Simplify 0 into 0 5.736 * [backup-simplify]: Simplify 1 into 1 5.737 * [backup-simplify]: Simplify (* 1 1) into 1 5.741 * [backup-simplify]: Simplify (/ 1 1) into 1 5.741 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 5.741 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 5.741 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 5.741 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 5.741 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 5.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.741 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.741 * [backup-simplify]: Simplify -0.5 into -0.5 5.741 * [taylor]: Taking taylor expansion of phi2 in phi1 5.741 * [backup-simplify]: Simplify phi2 into phi2 5.741 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.742 * [backup-simplify]: Simplify (- 0) into 0 5.742 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.742 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 5.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 5.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.742 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.742 * [backup-simplify]: Simplify -0.5 into -0.5 5.742 * [taylor]: Taking taylor expansion of phi1 in phi1 5.742 * [backup-simplify]: Simplify 0 into 0 5.742 * [backup-simplify]: Simplify 1 into 1 5.742 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.743 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.743 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.743 * [backup-simplify]: Simplify lambda2 into lambda2 5.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.743 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.743 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.743 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 5.743 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 5.743 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 5.743 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 5.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 5.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.743 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.743 * [backup-simplify]: Simplify -0.5 into -0.5 5.743 * [taylor]: Taking taylor expansion of phi2 in phi1 5.743 * [backup-simplify]: Simplify phi2 into phi2 5.744 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.744 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.744 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 5.744 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 5.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.744 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.744 * [backup-simplify]: Simplify -0.5 into -0.5 5.744 * [taylor]: Taking taylor expansion of phi1 in phi1 5.744 * [backup-simplify]: Simplify 0 into 0 5.744 * [backup-simplify]: Simplify 1 into 1 5.744 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.744 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.744 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.744 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.744 * [backup-simplify]: Simplify lambda2 into lambda2 5.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.745 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.745 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.745 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 5.745 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 5.745 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 5.745 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi1 5.745 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 5.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.745 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.745 * [backup-simplify]: Simplify -0.5 into -0.5 5.745 * [taylor]: Taking taylor expansion of phi2 in phi1 5.745 * [backup-simplify]: Simplify phi2 into phi2 5.745 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.745 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi1 5.745 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 5.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.745 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.746 * [backup-simplify]: Simplify -0.5 into -0.5 5.746 * [taylor]: Taking taylor expansion of phi2 in phi1 5.746 * [backup-simplify]: Simplify phi2 into phi2 5.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.746 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi1 5.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 5.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.746 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.746 * [backup-simplify]: Simplify -0.5 into -0.5 5.746 * [taylor]: Taking taylor expansion of phi1 in phi1 5.746 * [backup-simplify]: Simplify 0 into 0 5.746 * [backup-simplify]: Simplify 1 into 1 5.746 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 5.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.746 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.746 * [backup-simplify]: Simplify -0.5 into -0.5 5.746 * [taylor]: Taking taylor expansion of phi1 in phi1 5.746 * [backup-simplify]: Simplify 0 into 0 5.746 * [backup-simplify]: Simplify 1 into 1 5.747 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.747 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.747 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.747 * [backup-simplify]: Simplify lambda2 into lambda2 5.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.747 * [backup-simplify]: Simplify (- 0) into 0 5.747 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.747 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 5.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 5.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 5.748 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.748 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 5.748 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 5.748 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.748 * [taylor]: Taking taylor expansion of 2 in phi1 5.748 * [backup-simplify]: Simplify 2 into 2 5.748 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.748 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.748 * [taylor]: Taking taylor expansion of phi2 in phi1 5.748 * [backup-simplify]: Simplify phi2 into phi2 5.748 * [taylor]: Taking taylor expansion of phi1 in phi1 5.748 * [backup-simplify]: Simplify 0 into 0 5.748 * [backup-simplify]: Simplify 1 into 1 5.748 * [backup-simplify]: Simplify (* phi2 0) into 0 5.749 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.749 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.749 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 5.749 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 5.749 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1 5.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 5.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.749 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.749 * [backup-simplify]: Simplify -0.5 into -0.5 5.749 * [taylor]: Taking taylor expansion of phi2 in phi1 5.749 * [backup-simplify]: Simplify phi2 into phi2 5.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.749 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1 5.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 5.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.749 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.749 * [backup-simplify]: Simplify -0.5 into -0.5 5.749 * [taylor]: Taking taylor expansion of phi2 in phi1 5.749 * [backup-simplify]: Simplify phi2 into phi2 5.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.749 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1 5.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 5.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.749 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.749 * [backup-simplify]: Simplify -0.5 into -0.5 5.749 * [taylor]: Taking taylor expansion of phi1 in phi1 5.749 * [backup-simplify]: Simplify 0 into 0 5.749 * [backup-simplify]: Simplify 1 into 1 5.750 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.750 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 5.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.750 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.750 * [backup-simplify]: Simplify -0.5 into -0.5 5.750 * [taylor]: Taking taylor expansion of phi1 in phi1 5.750 * [backup-simplify]: Simplify 0 into 0 5.750 * [backup-simplify]: Simplify 1 into 1 5.750 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.750 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.750 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.750 * [backup-simplify]: Simplify lambda2 into lambda2 5.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.750 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.751 * [backup-simplify]: Simplify (- 0) into 0 5.751 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 5.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 5.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 5.751 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.751 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 5.752 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 5.752 * [taylor]: Taking taylor expansion of 2 in phi1 5.752 * [backup-simplify]: Simplify 2 into 2 5.752 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 5.752 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.752 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.752 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.752 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.752 * [backup-simplify]: Simplify -0.5 into -0.5 5.752 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.752 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.752 * [taylor]: Taking taylor expansion of phi1 in phi1 5.752 * [backup-simplify]: Simplify 0 into 0 5.752 * [backup-simplify]: Simplify 1 into 1 5.752 * [backup-simplify]: Simplify (/ 1 1) into 1 5.752 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.752 * [taylor]: Taking taylor expansion of phi2 in phi1 5.752 * [backup-simplify]: Simplify phi2 into phi2 5.752 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.752 * [backup-simplify]: Simplify (+ 1 0) into 1 5.753 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.753 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.753 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 5.753 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.753 * [backup-simplify]: Simplify lambda2 into lambda2 5.753 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.753 * [backup-simplify]: Simplify lambda1 into lambda1 5.753 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.753 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.753 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.754 * [backup-simplify]: Simplify (+ 1 0) into 1 5.754 * [backup-simplify]: Simplify (+ 0 1) into 1 5.754 * [backup-simplify]: Simplify (+ 0 1) into 1 5.754 * [backup-simplify]: Simplify (+ 1 0) into 1 5.755 * [backup-simplify]: Simplify (sqrt 1) into 1 5.755 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.755 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.756 * [backup-simplify]: Simplify (+ 0 0) into 0 5.756 * [backup-simplify]: Simplify (+ 0 0) into 0 5.756 * [backup-simplify]: Simplify (+ 0 0) into 0 5.756 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.756 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 5.756 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 5.756 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 5.756 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.757 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.757 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi2 5.757 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi2 5.757 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 5.757 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 5.757 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.757 * [taylor]: Taking taylor expansion of phi2 in phi2 5.757 * [backup-simplify]: Simplify 0 into 0 5.757 * [backup-simplify]: Simplify 1 into 1 5.757 * [backup-simplify]: Simplify (* 1 1) into 1 5.758 * [backup-simplify]: Simplify (/ 1 1) into 1 5.758 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 5.758 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 5.758 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.758 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.758 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.758 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.758 * [backup-simplify]: Simplify -0.5 into -0.5 5.758 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.758 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.758 * [taylor]: Taking taylor expansion of phi1 in phi2 5.758 * [backup-simplify]: Simplify phi1 into phi1 5.758 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.758 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.758 * [taylor]: Taking taylor expansion of phi2 in phi2 5.758 * [backup-simplify]: Simplify 0 into 0 5.758 * [backup-simplify]: Simplify 1 into 1 5.758 * [backup-simplify]: Simplify (/ 1 1) into 1 5.758 * [backup-simplify]: Simplify (+ 0 1) into 1 5.759 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.759 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.759 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.759 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.759 * [backup-simplify]: Simplify lambda1 into lambda1 5.759 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.759 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.759 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.759 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 5.759 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 5.759 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.759 * [taylor]: Taking taylor expansion of phi1 in phi2 5.759 * [backup-simplify]: Simplify phi1 into phi1 5.759 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.760 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.760 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 5.760 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 5.760 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 5.760 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 5.760 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.760 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.760 * [backup-simplify]: Simplify -0.5 into -0.5 5.760 * [taylor]: Taking taylor expansion of phi2 in phi2 5.760 * [backup-simplify]: Simplify 0 into 0 5.760 * [backup-simplify]: Simplify 1 into 1 5.760 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.760 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.760 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 5.760 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.760 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.760 * [backup-simplify]: Simplify -0.5 into -0.5 5.760 * [taylor]: Taking taylor expansion of phi1 in phi2 5.760 * [backup-simplify]: Simplify phi1 into phi1 5.760 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.760 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.760 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.761 * [backup-simplify]: Simplify (- 0) into 0 5.761 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.761 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.761 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.761 * [backup-simplify]: Simplify lambda2 into lambda2 5.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.761 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.761 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.762 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 5.762 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 5.762 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 5.762 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 5.762 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.762 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.762 * [backup-simplify]: Simplify -0.5 into -0.5 5.762 * [taylor]: Taking taylor expansion of phi2 in phi2 5.762 * [backup-simplify]: Simplify 0 into 0 5.762 * [backup-simplify]: Simplify 1 into 1 5.762 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.762 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.762 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 5.762 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.762 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.762 * [backup-simplify]: Simplify -0.5 into -0.5 5.762 * [taylor]: Taking taylor expansion of phi1 in phi2 5.762 * [backup-simplify]: Simplify phi1 into phi1 5.762 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.762 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.762 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.763 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.763 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.763 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.763 * [backup-simplify]: Simplify lambda2 into lambda2 5.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.763 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.763 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.763 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 5.763 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 5.763 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 5.763 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 5.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.764 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.764 * [backup-simplify]: Simplify -0.5 into -0.5 5.764 * [taylor]: Taking taylor expansion of phi2 in phi2 5.764 * [backup-simplify]: Simplify 0 into 0 5.764 * [backup-simplify]: Simplify 1 into 1 5.764 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.764 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 5.764 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.764 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.764 * [backup-simplify]: Simplify -0.5 into -0.5 5.764 * [taylor]: Taking taylor expansion of phi2 in phi2 5.764 * [backup-simplify]: Simplify 0 into 0 5.764 * [backup-simplify]: Simplify 1 into 1 5.764 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.764 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 5.764 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.765 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.765 * [backup-simplify]: Simplify -0.5 into -0.5 5.765 * [taylor]: Taking taylor expansion of phi1 in phi2 5.765 * [backup-simplify]: Simplify phi1 into phi1 5.765 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.765 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.765 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.765 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.765 * [backup-simplify]: Simplify -0.5 into -0.5 5.765 * [taylor]: Taking taylor expansion of phi1 in phi2 5.765 * [backup-simplify]: Simplify phi1 into phi1 5.765 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.765 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.765 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.765 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.765 * [backup-simplify]: Simplify lambda2 into lambda2 5.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.765 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.766 * [backup-simplify]: Simplify (- 0) into 0 5.766 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 5.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 5.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 5.766 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.766 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 5.766 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 5.766 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 5.766 * [taylor]: Taking taylor expansion of 2 in phi2 5.766 * [backup-simplify]: Simplify 2 into 2 5.766 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 5.767 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 5.767 * [taylor]: Taking taylor expansion of phi2 in phi2 5.767 * [backup-simplify]: Simplify 0 into 0 5.767 * [backup-simplify]: Simplify 1 into 1 5.767 * [taylor]: Taking taylor expansion of phi1 in phi2 5.767 * [backup-simplify]: Simplify phi1 into phi1 5.767 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.767 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.767 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.767 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 5.767 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 5.767 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 5.767 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.767 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.767 * [backup-simplify]: Simplify -0.5 into -0.5 5.767 * [taylor]: Taking taylor expansion of phi2 in phi2 5.767 * [backup-simplify]: Simplify 0 into 0 5.767 * [backup-simplify]: Simplify 1 into 1 5.767 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.767 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 5.768 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.768 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.768 * [backup-simplify]: Simplify -0.5 into -0.5 5.768 * [taylor]: Taking taylor expansion of phi2 in phi2 5.768 * [backup-simplify]: Simplify 0 into 0 5.768 * [backup-simplify]: Simplify 1 into 1 5.768 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.768 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 5.768 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.768 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.768 * [backup-simplify]: Simplify -0.5 into -0.5 5.768 * [taylor]: Taking taylor expansion of phi1 in phi2 5.768 * [backup-simplify]: Simplify phi1 into phi1 5.768 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.768 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.768 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.768 * [backup-simplify]: Simplify -0.5 into -0.5 5.768 * [taylor]: Taking taylor expansion of phi1 in phi2 5.768 * [backup-simplify]: Simplify phi1 into phi1 5.768 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.768 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.768 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.768 * [backup-simplify]: Simplify lambda2 into lambda2 5.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.769 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.769 * [backup-simplify]: Simplify (- 0) into 0 5.769 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.769 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.769 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 5.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 5.769 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 5.770 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.770 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 5.770 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 5.770 * [taylor]: Taking taylor expansion of 2 in phi2 5.770 * [backup-simplify]: Simplify 2 into 2 5.770 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 5.770 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.770 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.770 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.770 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.770 * [backup-simplify]: Simplify -0.5 into -0.5 5.770 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.770 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.770 * [taylor]: Taking taylor expansion of phi1 in phi2 5.770 * [backup-simplify]: Simplify phi1 into phi1 5.770 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.770 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.770 * [taylor]: Taking taylor expansion of phi2 in phi2 5.770 * [backup-simplify]: Simplify 0 into 0 5.770 * [backup-simplify]: Simplify 1 into 1 5.770 * [backup-simplify]: Simplify (/ 1 1) into 1 5.771 * [backup-simplify]: Simplify (+ 0 1) into 1 5.771 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.771 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.771 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 5.771 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.771 * [backup-simplify]: Simplify lambda2 into lambda2 5.771 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.771 * [backup-simplify]: Simplify lambda1 into lambda1 5.771 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.771 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.772 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.772 * [backup-simplify]: Simplify (+ 1 0) into 1 5.772 * [backup-simplify]: Simplify (+ 1 0) into 1 5.772 * [backup-simplify]: Simplify (sqrt 1) into 1 5.773 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.773 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.774 * [backup-simplify]: Simplify (+ 0 0) into 0 5.774 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 5.774 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 5.774 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 5.774 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 5.774 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.774 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.774 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda2 5.774 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2 5.774 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2 5.774 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.775 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.775 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.775 * [backup-simplify]: Simplify phi2 into phi2 5.775 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.775 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.775 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2 5.775 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 5.775 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.775 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.775 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.775 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.775 * [backup-simplify]: Simplify -0.5 into -0.5 5.775 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.775 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.775 * [backup-simplify]: Simplify phi1 into phi1 5.775 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.775 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.775 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.775 * [backup-simplify]: Simplify phi2 into phi2 5.775 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.775 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.775 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.775 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.775 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.775 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.776 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.776 * [backup-simplify]: Simplify (- 0) into 0 5.776 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.776 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.776 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.776 * [backup-simplify]: Simplify lambda1 into lambda1 5.776 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.776 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.776 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.776 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 5.777 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.777 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.777 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.777 * [backup-simplify]: Simplify phi1 into phi1 5.777 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.777 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.777 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 5.777 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 5.777 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 5.777 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 5.777 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 5.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.777 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.777 * [backup-simplify]: Simplify -0.5 into -0.5 5.777 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.777 * [backup-simplify]: Simplify phi2 into phi2 5.777 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.777 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.777 * [backup-simplify]: Simplify (- 0) into 0 5.777 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.777 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 5.778 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 5.778 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.778 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.778 * [backup-simplify]: Simplify -0.5 into -0.5 5.778 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.778 * [backup-simplify]: Simplify phi1 into phi1 5.778 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.778 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.778 * [backup-simplify]: Simplify (- 0) into 0 5.778 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.778 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.778 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.778 * [backup-simplify]: Simplify 0 into 0 5.778 * [backup-simplify]: Simplify 1 into 1 5.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.779 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.779 * [backup-simplify]: Simplify (* 1 1) into 1 5.779 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.779 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 5.779 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 5.779 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 5.779 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 5.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.779 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.779 * [backup-simplify]: Simplify -0.5 into -0.5 5.779 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.779 * [backup-simplify]: Simplify phi2 into phi2 5.779 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.779 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.780 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 5.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 5.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.780 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.780 * [backup-simplify]: Simplify -0.5 into -0.5 5.780 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.780 * [backup-simplify]: Simplify phi1 into phi1 5.780 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.780 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.780 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.780 * [backup-simplify]: Simplify 0 into 0 5.780 * [backup-simplify]: Simplify 1 into 1 5.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.780 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.781 * [backup-simplify]: Simplify (* 1 1) into 1 5.781 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.781 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 5.781 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 5.781 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 5.781 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 5.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.781 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.781 * [backup-simplify]: Simplify -0.5 into -0.5 5.781 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.781 * [backup-simplify]: Simplify phi2 into phi2 5.781 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.781 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.781 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 5.781 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 5.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.781 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.781 * [backup-simplify]: Simplify -0.5 into -0.5 5.781 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.781 * [backup-simplify]: Simplify phi2 into phi2 5.781 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.782 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 5.782 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 5.782 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.782 * [backup-simplify]: Simplify -0.5 into -0.5 5.782 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.782 * [backup-simplify]: Simplify phi1 into phi1 5.782 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.782 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 5.782 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.782 * [backup-simplify]: Simplify -0.5 into -0.5 5.782 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.782 * [backup-simplify]: Simplify phi1 into phi1 5.782 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.782 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.782 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.782 * [backup-simplify]: Simplify 0 into 0 5.782 * [backup-simplify]: Simplify 1 into 1 5.782 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.782 * [backup-simplify]: Simplify (- 0) into 0 5.783 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.783 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.783 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.783 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.783 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.783 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.783 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.783 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.783 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.783 * [backup-simplify]: Simplify (- 0) into 0 5.783 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.783 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 5.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 5.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 5.784 * [backup-simplify]: Simplify (* 1 1) into 1 5.784 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 5.784 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 5.784 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 5.784 * [taylor]: Taking taylor expansion of 2 in lambda2 5.784 * [backup-simplify]: Simplify 2 into 2 5.784 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 5.784 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.784 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.784 * [backup-simplify]: Simplify phi2 into phi2 5.784 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.784 * [backup-simplify]: Simplify phi1 into phi1 5.784 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.784 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.784 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 5.785 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 5.785 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 5.785 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 5.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.785 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.785 * [backup-simplify]: Simplify -0.5 into -0.5 5.785 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.785 * [backup-simplify]: Simplify phi2 into phi2 5.785 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.785 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 5.785 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 5.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.785 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.785 * [backup-simplify]: Simplify -0.5 into -0.5 5.785 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.785 * [backup-simplify]: Simplify phi2 into phi2 5.785 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.785 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 5.785 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 5.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.785 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.785 * [backup-simplify]: Simplify -0.5 into -0.5 5.785 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.785 * [backup-simplify]: Simplify phi1 into phi1 5.785 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.785 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 5.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.785 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.785 * [backup-simplify]: Simplify -0.5 into -0.5 5.785 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.785 * [backup-simplify]: Simplify phi1 into phi1 5.785 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.786 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.786 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.786 * [backup-simplify]: Simplify 0 into 0 5.786 * [backup-simplify]: Simplify 1 into 1 5.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.786 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.786 * [backup-simplify]: Simplify (- 0) into 0 5.786 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.787 * [backup-simplify]: Simplify (- 0) into 0 5.787 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.787 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.787 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 5.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 5.787 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 5.787 * [backup-simplify]: Simplify (* 1 1) into 1 5.788 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 5.788 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 5.788 * [taylor]: Taking taylor expansion of 2 in lambda2 5.788 * [backup-simplify]: Simplify 2 into 2 5.788 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 5.788 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.788 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.788 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.788 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.788 * [backup-simplify]: Simplify -0.5 into -0.5 5.788 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.788 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.788 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.788 * [backup-simplify]: Simplify phi1 into phi1 5.788 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.788 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.788 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.788 * [backup-simplify]: Simplify phi2 into phi2 5.788 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.788 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.788 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.788 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.788 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.788 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.789 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.789 * [backup-simplify]: Simplify (- 0) into 0 5.789 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.789 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 5.789 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.789 * [backup-simplify]: Simplify 0 into 0 5.789 * [backup-simplify]: Simplify 1 into 1 5.789 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.789 * [backup-simplify]: Simplify lambda1 into lambda1 5.789 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.789 * [backup-simplify]: Simplify (* 0 lambda1) into 0 5.790 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 5.790 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.790 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.791 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.791 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.792 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 5.792 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 5.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) 5.793 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5.794 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5.795 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) 5.795 * [backup-simplify]: Simplify (+ 0) into 0 5.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.797 * [backup-simplify]: Simplify (- 0) into 0 5.797 * [backup-simplify]: Simplify (+ 0 0) into 0 5.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.797 * [backup-simplify]: Simplify (+ 0) into 0 5.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.798 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.799 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.799 * [backup-simplify]: Simplify (- 0) into 0 5.799 * [backup-simplify]: Simplify (+ 0 0) into 0 5.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 5.799 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 5.800 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.801 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 5.801 * [backup-simplify]: Simplify (+ 0) into 0 5.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.801 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.802 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.802 * [backup-simplify]: Simplify (+ 0 0) into 0 5.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.803 * [backup-simplify]: Simplify (+ 0) into 0 5.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.803 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.804 * [backup-simplify]: Simplify (+ 0 0) into 0 5.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 5.804 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 5.805 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.806 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 5.806 * [backup-simplify]: Simplify (+ 0 0) into 0 5.806 * [backup-simplify]: Simplify (+ 0 0) into 0 5.806 * [backup-simplify]: Simplify (+ 0 0) into 0 5.806 * [backup-simplify]: Simplify (+ 0 0) into 0 5.807 * [backup-simplify]: Simplify (+ 0) into 0 5.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.807 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.808 * [backup-simplify]: Simplify (- 0) into 0 5.808 * [backup-simplify]: Simplify (+ 0 0) into 0 5.809 * [backup-simplify]: Simplify (+ 0) into 0 5.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.809 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.810 * [backup-simplify]: Simplify (+ 0 0) into 0 5.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.810 * [backup-simplify]: Simplify (+ 0) into 0 5.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.811 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.812 * [backup-simplify]: Simplify (+ 0 0) into 0 5.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 5.812 * [backup-simplify]: Simplify (+ 0) into 0 5.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.813 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.814 * [backup-simplify]: Simplify (- 0) into 0 5.814 * [backup-simplify]: Simplify (+ 0 0) into 0 5.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 5.814 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.815 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0 5.815 * [backup-simplify]: Simplify (+ 0) into 0 5.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.816 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.817 * [backup-simplify]: Simplify (+ 0 0) into 0 5.817 * [backup-simplify]: Simplify (+ 0) into 0 5.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.818 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.818 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.819 * [backup-simplify]: Simplify (- 0) into 0 5.819 * [backup-simplify]: Simplify (+ 0 0) into 0 5.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.819 * [backup-simplify]: Simplify (+ 0) into 0 5.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.820 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.821 * [backup-simplify]: Simplify (- 0) into 0 5.821 * [backup-simplify]: Simplify (+ 0 0) into 0 5.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 5.821 * [backup-simplify]: Simplify (+ 0) into 0 5.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.823 * [backup-simplify]: Simplify (+ 0 0) into 0 5.823 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 5.823 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.824 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 5.825 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.825 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.825 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.825 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.826 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.826 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.827 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.827 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda2 5.827 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2 5.827 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2 5.828 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.828 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.828 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.828 * [backup-simplify]: Simplify phi2 into phi2 5.828 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.828 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.828 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2 5.828 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 5.828 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.828 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.828 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.828 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.828 * [backup-simplify]: Simplify -0.5 into -0.5 5.828 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.828 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.828 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.828 * [backup-simplify]: Simplify phi1 into phi1 5.828 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.828 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.828 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.828 * [backup-simplify]: Simplify phi2 into phi2 5.828 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.828 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.828 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.828 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.828 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.828 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.829 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.829 * [backup-simplify]: Simplify (- 0) into 0 5.829 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.829 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.829 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.829 * [backup-simplify]: Simplify lambda1 into lambda1 5.829 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.829 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.830 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.830 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 5.830 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.830 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.830 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.830 * [backup-simplify]: Simplify phi1 into phi1 5.830 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.830 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.830 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 5.830 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 5.830 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 5.830 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 5.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 5.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.830 * [backup-simplify]: Simplify -0.5 into -0.5 5.830 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.830 * [backup-simplify]: Simplify phi2 into phi2 5.830 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.831 * [backup-simplify]: Simplify (- 0) into 0 5.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.831 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 5.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 5.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.831 * [backup-simplify]: Simplify -0.5 into -0.5 5.831 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.831 * [backup-simplify]: Simplify phi1 into phi1 5.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.831 * [backup-simplify]: Simplify (- 0) into 0 5.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.831 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.831 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.831 * [backup-simplify]: Simplify 0 into 0 5.831 * [backup-simplify]: Simplify 1 into 1 5.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.832 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.832 * [backup-simplify]: Simplify (* 1 1) into 1 5.832 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.832 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 5.832 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 5.832 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 5.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 5.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.832 * [backup-simplify]: Simplify -0.5 into -0.5 5.832 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.832 * [backup-simplify]: Simplify phi2 into phi2 5.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.833 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 5.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 5.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.833 * [backup-simplify]: Simplify -0.5 into -0.5 5.833 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.833 * [backup-simplify]: Simplify phi1 into phi1 5.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.833 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.833 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.833 * [backup-simplify]: Simplify 0 into 0 5.833 * [backup-simplify]: Simplify 1 into 1 5.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.834 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.834 * [backup-simplify]: Simplify (* 1 1) into 1 5.834 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.834 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 5.834 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 5.835 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 5.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 5.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.835 * [backup-simplify]: Simplify -0.5 into -0.5 5.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.835 * [backup-simplify]: Simplify phi2 into phi2 5.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.835 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 5.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 5.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.835 * [backup-simplify]: Simplify -0.5 into -0.5 5.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.835 * [backup-simplify]: Simplify phi2 into phi2 5.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.835 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 5.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 5.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.835 * [backup-simplify]: Simplify -0.5 into -0.5 5.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.835 * [backup-simplify]: Simplify phi1 into phi1 5.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 5.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.835 * [backup-simplify]: Simplify -0.5 into -0.5 5.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.835 * [backup-simplify]: Simplify phi1 into phi1 5.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.836 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.836 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.836 * [backup-simplify]: Simplify 0 into 0 5.836 * [backup-simplify]: Simplify 1 into 1 5.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.836 * [backup-simplify]: Simplify (- 0) into 0 5.836 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.837 * [backup-simplify]: Simplify (- 0) into 0 5.837 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 5.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 5.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 5.838 * [backup-simplify]: Simplify (* 1 1) into 1 5.838 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 5.838 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 5.838 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 5.838 * [taylor]: Taking taylor expansion of 2 in lambda2 5.838 * [backup-simplify]: Simplify 2 into 2 5.838 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 5.838 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.838 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.838 * [backup-simplify]: Simplify phi2 into phi2 5.838 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.838 * [backup-simplify]: Simplify phi1 into phi1 5.838 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.838 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.838 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 5.838 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 5.838 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 5.838 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 5.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.838 * [backup-simplify]: Simplify -0.5 into -0.5 5.838 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.838 * [backup-simplify]: Simplify phi2 into phi2 5.838 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.838 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 5.838 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 5.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 5.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.838 * [backup-simplify]: Simplify -0.5 into -0.5 5.838 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.838 * [backup-simplify]: Simplify phi2 into phi2 5.839 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.839 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.839 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.839 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 5.839 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 5.839 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.839 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.839 * [backup-simplify]: Simplify -0.5 into -0.5 5.839 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.839 * [backup-simplify]: Simplify phi1 into phi1 5.839 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.839 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.839 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.839 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 5.839 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 5.839 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.839 * [backup-simplify]: Simplify -0.5 into -0.5 5.839 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.839 * [backup-simplify]: Simplify phi1 into phi1 5.839 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.839 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.839 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.839 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.839 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.839 * [backup-simplify]: Simplify 0 into 0 5.839 * [backup-simplify]: Simplify 1 into 1 5.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.839 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.840 * [backup-simplify]: Simplify (- 0) into 0 5.840 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.840 * [backup-simplify]: Simplify (- 0) into 0 5.840 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 5.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 5.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 5.841 * [backup-simplify]: Simplify (* 1 1) into 1 5.841 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 5.841 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 5.841 * [taylor]: Taking taylor expansion of 2 in lambda2 5.841 * [backup-simplify]: Simplify 2 into 2 5.841 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 5.841 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.841 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.841 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.841 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.841 * [backup-simplify]: Simplify -0.5 into -0.5 5.841 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.841 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.841 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.841 * [backup-simplify]: Simplify phi1 into phi1 5.842 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.842 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.842 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.842 * [backup-simplify]: Simplify phi2 into phi2 5.842 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.842 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.842 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.842 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.842 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.842 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.842 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.842 * [backup-simplify]: Simplify (- 0) into 0 5.843 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.843 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 5.843 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.843 * [backup-simplify]: Simplify 0 into 0 5.843 * [backup-simplify]: Simplify 1 into 1 5.843 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.843 * [backup-simplify]: Simplify lambda1 into lambda1 5.843 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.843 * [backup-simplify]: Simplify (* 0 lambda1) into 0 5.843 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 5.843 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.844 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.844 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.845 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.845 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 5.846 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 5.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) 5.847 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5.848 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 5.849 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) 5.853 * [backup-simplify]: Simplify (+ 0) into 0 5.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.854 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.855 * [backup-simplify]: Simplify (- 0) into 0 5.855 * [backup-simplify]: Simplify (+ 0 0) into 0 5.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.856 * [backup-simplify]: Simplify (+ 0) into 0 5.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.856 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.857 * [backup-simplify]: Simplify (- 0) into 0 5.857 * [backup-simplify]: Simplify (+ 0 0) into 0 5.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 5.858 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 5.858 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.859 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 5.859 * [backup-simplify]: Simplify (+ 0) into 0 5.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.859 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.861 * [backup-simplify]: Simplify (+ 0 0) into 0 5.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.861 * [backup-simplify]: Simplify (+ 0) into 0 5.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.861 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.862 * [backup-simplify]: Simplify (+ 0 0) into 0 5.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 5.863 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 5.863 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.864 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 5.864 * [backup-simplify]: Simplify (+ 0 0) into 0 5.864 * [backup-simplify]: Simplify (+ 0 0) into 0 5.864 * [backup-simplify]: Simplify (+ 0 0) into 0 5.865 * [backup-simplify]: Simplify (+ 0 0) into 0 5.865 * [backup-simplify]: Simplify (+ 0) into 0 5.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.866 * [backup-simplify]: Simplify (- 0) into 0 5.867 * [backup-simplify]: Simplify (+ 0 0) into 0 5.867 * [backup-simplify]: Simplify (+ 0) into 0 5.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.868 * [backup-simplify]: Simplify (+ 0 0) into 0 5.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.869 * [backup-simplify]: Simplify (+ 0) into 0 5.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.869 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.870 * [backup-simplify]: Simplify (+ 0 0) into 0 5.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 5.870 * [backup-simplify]: Simplify (+ 0) into 0 5.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.871 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.872 * [backup-simplify]: Simplify (- 0) into 0 5.872 * [backup-simplify]: Simplify (+ 0 0) into 0 5.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 5.873 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.874 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0 5.874 * [backup-simplify]: Simplify (+ 0) into 0 5.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.874 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.875 * [backup-simplify]: Simplify (+ 0 0) into 0 5.876 * [backup-simplify]: Simplify (+ 0) into 0 5.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.877 * [backup-simplify]: Simplify (- 0) into 0 5.877 * [backup-simplify]: Simplify (+ 0 0) into 0 5.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.878 * [backup-simplify]: Simplify (+ 0) into 0 5.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.878 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.878 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.879 * [backup-simplify]: Simplify (- 0) into 0 5.879 * [backup-simplify]: Simplify (+ 0 0) into 0 5.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 5.880 * [backup-simplify]: Simplify (+ 0) into 0 5.880 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.881 * [backup-simplify]: Simplify (+ 0 0) into 0 5.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 5.882 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.882 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 5.883 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.883 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.883 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.883 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.884 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.884 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.885 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.885 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2 5.885 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 5.886 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 5.886 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 5.886 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 5.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.886 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.886 * [backup-simplify]: Simplify -0.5 into -0.5 5.886 * [taylor]: Taking taylor expansion of phi2 in phi2 5.886 * [backup-simplify]: Simplify 0 into 0 5.886 * [backup-simplify]: Simplify 1 into 1 5.886 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.886 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 5.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.886 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.886 * [backup-simplify]: Simplify -0.5 into -0.5 5.886 * [taylor]: Taking taylor expansion of phi1 in phi2 5.886 * [backup-simplify]: Simplify phi1 into phi1 5.886 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.887 * [backup-simplify]: Simplify (- 0) into 0 5.887 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.887 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 5.887 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 5.887 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.887 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.887 * [backup-simplify]: Simplify -0.5 into -0.5 5.887 * [taylor]: Taking taylor expansion of phi2 in phi2 5.887 * [backup-simplify]: Simplify 0 into 0 5.887 * [backup-simplify]: Simplify 1 into 1 5.887 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.887 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 5.888 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.888 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.888 * [backup-simplify]: Simplify -0.5 into -0.5 5.888 * [taylor]: Taking taylor expansion of phi1 in phi2 5.888 * [backup-simplify]: Simplify phi1 into phi1 5.888 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.888 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.888 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.888 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 5.888 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 5.888 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.888 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.888 * [backup-simplify]: Simplify -0.5 into -0.5 5.888 * [taylor]: Taking taylor expansion of phi2 in phi2 5.888 * [backup-simplify]: Simplify 0 into 0 5.888 * [backup-simplify]: Simplify 1 into 1 5.888 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.888 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.888 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 5.889 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.889 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.889 * [backup-simplify]: Simplify -0.5 into -0.5 5.889 * [taylor]: Taking taylor expansion of phi2 in phi2 5.889 * [backup-simplify]: Simplify 0 into 0 5.889 * [backup-simplify]: Simplify 1 into 1 5.889 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.889 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 5.889 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.889 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.889 * [backup-simplify]: Simplify -0.5 into -0.5 5.889 * [taylor]: Taking taylor expansion of phi1 in phi2 5.889 * [backup-simplify]: Simplify phi1 into phi1 5.889 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.889 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.889 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.889 * [backup-simplify]: Simplify -0.5 into -0.5 5.889 * [taylor]: Taking taylor expansion of phi1 in phi2 5.889 * [backup-simplify]: Simplify phi1 into phi1 5.889 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.889 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 5.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.890 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.890 * [backup-simplify]: Simplify -0.5 into -0.5 5.890 * [taylor]: Taking taylor expansion of phi2 in phi2 5.890 * [backup-simplify]: Simplify 0 into 0 5.890 * [backup-simplify]: Simplify 1 into 1 5.890 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.890 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 5.890 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.890 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.890 * [backup-simplify]: Simplify -0.5 into -0.5 5.890 * [taylor]: Taking taylor expansion of phi2 in phi2 5.890 * [backup-simplify]: Simplify 0 into 0 5.890 * [backup-simplify]: Simplify 1 into 1 5.891 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.891 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.891 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 5.891 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.891 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.891 * [backup-simplify]: Simplify -0.5 into -0.5 5.891 * [taylor]: Taking taylor expansion of phi1 in phi2 5.891 * [backup-simplify]: Simplify phi1 into phi1 5.891 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.891 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.891 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.891 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.891 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.891 * [backup-simplify]: Simplify -0.5 into -0.5 5.891 * [taylor]: Taking taylor expansion of phi1 in phi2 5.891 * [backup-simplify]: Simplify phi1 into phi1 5.891 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.891 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.892 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.892 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.892 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.893 * [backup-simplify]: Simplify (- 0) into 0 5.893 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 5.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 5.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 5.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.894 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.894 * [backup-simplify]: Simplify (- 0) into 0 5.894 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 5.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 5.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 5.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 5.896 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 5.897 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 5.898 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 5.898 * [backup-simplify]: Simplify (+ 0) into 0 5.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.899 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.900 * [backup-simplify]: Simplify (- 0) into 0 5.900 * [backup-simplify]: Simplify (+ 0 0) into 0 5.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 5.900 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 5.900 * [backup-simplify]: Simplify (+ 0) into 0 5.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.902 * [backup-simplify]: Simplify (+ 0 0) into 0 5.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 5.902 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 5.903 * [backup-simplify]: Simplify (+ 0 0) into 0 5.903 * [backup-simplify]: Simplify (+ 0) into 0 5.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.903 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.904 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.904 * [backup-simplify]: Simplify (+ 0 0) into 0 5.905 * [backup-simplify]: Simplify (+ 0) into 0 5.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.905 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.906 * [backup-simplify]: Simplify (- 0) into 0 5.906 * [backup-simplify]: Simplify (+ 0 0) into 0 5.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 5.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 5.907 * [backup-simplify]: Simplify (+ 0) into 0 5.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.908 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.909 * [backup-simplify]: Simplify (- 0) into 0 5.909 * [backup-simplify]: Simplify (+ 0 0) into 0 5.909 * [backup-simplify]: Simplify (+ 0) into 0 5.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.911 * [backup-simplify]: Simplify (+ 0 0) into 0 5.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 5.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 5.911 * [backup-simplify]: Simplify (+ 0 0) into 0 5.912 * [backup-simplify]: Simplify (- 0) into 0 5.912 * [backup-simplify]: Simplify (+ 0 0) into 0 5.913 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 5.913 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2 5.913 * [taylor]: Taking taylor expansion of -1 in phi2 5.913 * [backup-simplify]: Simplify -1 into -1 5.913 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2 5.913 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2 5.913 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2 5.913 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 5.913 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 5.913 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 5.913 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 5.913 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.913 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.913 * [backup-simplify]: Simplify -0.5 into -0.5 5.913 * [taylor]: Taking taylor expansion of phi2 in phi2 5.913 * [backup-simplify]: Simplify 0 into 0 5.914 * [backup-simplify]: Simplify 1 into 1 5.914 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.914 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 5.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.914 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.914 * [backup-simplify]: Simplify -0.5 into -0.5 5.914 * [taylor]: Taking taylor expansion of phi1 in phi2 5.914 * [backup-simplify]: Simplify phi1 into phi1 5.914 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.915 * [backup-simplify]: Simplify (- 0) into 0 5.915 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.915 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 5.915 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 5.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.915 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.915 * [backup-simplify]: Simplify -0.5 into -0.5 5.915 * [taylor]: Taking taylor expansion of phi2 in phi2 5.915 * [backup-simplify]: Simplify 0 into 0 5.915 * [backup-simplify]: Simplify 1 into 1 5.915 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.915 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 5.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.915 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.915 * [backup-simplify]: Simplify -0.5 into -0.5 5.915 * [taylor]: Taking taylor expansion of phi1 in phi2 5.915 * [backup-simplify]: Simplify phi1 into phi1 5.915 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.916 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.916 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 5.916 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 5.916 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.916 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.916 * [backup-simplify]: Simplify -0.5 into -0.5 5.916 * [taylor]: Taking taylor expansion of phi2 in phi2 5.916 * [backup-simplify]: Simplify 0 into 0 5.916 * [backup-simplify]: Simplify 1 into 1 5.916 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.916 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.916 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 5.916 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.916 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.916 * [backup-simplify]: Simplify -0.5 into -0.5 5.916 * [taylor]: Taking taylor expansion of phi2 in phi2 5.916 * [backup-simplify]: Simplify 0 into 0 5.916 * [backup-simplify]: Simplify 1 into 1 5.916 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.917 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 5.917 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.917 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.917 * [backup-simplify]: Simplify -0.5 into -0.5 5.917 * [taylor]: Taking taylor expansion of phi1 in phi2 5.917 * [backup-simplify]: Simplify phi1 into phi1 5.917 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.917 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.917 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.917 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.917 * [backup-simplify]: Simplify -0.5 into -0.5 5.917 * [taylor]: Taking taylor expansion of phi1 in phi2 5.917 * [backup-simplify]: Simplify phi1 into phi1 5.917 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.917 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.917 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 5.917 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 5.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.917 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.917 * [backup-simplify]: Simplify -0.5 into -0.5 5.917 * [taylor]: Taking taylor expansion of phi2 in phi2 5.917 * [backup-simplify]: Simplify 0 into 0 5.917 * [backup-simplify]: Simplify 1 into 1 5.917 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.918 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.918 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 5.918 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 5.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 5.918 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.918 * [backup-simplify]: Simplify -0.5 into -0.5 5.918 * [taylor]: Taking taylor expansion of phi2 in phi2 5.918 * [backup-simplify]: Simplify 0 into 0 5.918 * [backup-simplify]: Simplify 1 into 1 5.918 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.918 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 5.918 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 5.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.918 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.918 * [backup-simplify]: Simplify -0.5 into -0.5 5.918 * [taylor]: Taking taylor expansion of phi1 in phi2 5.918 * [backup-simplify]: Simplify phi1 into phi1 5.918 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.918 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.918 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 5.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 5.918 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.918 * [backup-simplify]: Simplify -0.5 into -0.5 5.918 * [taylor]: Taking taylor expansion of phi1 in phi2 5.918 * [backup-simplify]: Simplify phi1 into phi1 5.918 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 5.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.919 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.919 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.919 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.919 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.920 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.920 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.920 * [backup-simplify]: Simplify (- 0) into 0 5.920 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.920 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.920 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.920 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 5.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 5.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 5.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 5.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 5.921 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 5.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 5.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 5.921 * [backup-simplify]: Simplify (- 0) into 0 5.921 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 5.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 5.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 5.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 5.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 5.923 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 5.924 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 5.925 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 5.926 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 5.926 * [backup-simplify]: Simplify (+ 0) into 0 5.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.927 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.928 * [backup-simplify]: Simplify (- 0) into 0 5.928 * [backup-simplify]: Simplify (+ 0 0) into 0 5.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 5.929 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 5.929 * [backup-simplify]: Simplify (+ 0) into 0 5.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.931 * [backup-simplify]: Simplify (+ 0 0) into 0 5.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 5.931 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 5.931 * [backup-simplify]: Simplify (+ 0 0) into 0 5.932 * [backup-simplify]: Simplify (+ 0) into 0 5.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.933 * [backup-simplify]: Simplify (+ 0 0) into 0 5.933 * [backup-simplify]: Simplify (+ 0) into 0 5.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.935 * [backup-simplify]: Simplify (- 0) into 0 5.935 * [backup-simplify]: Simplify (+ 0 0) into 0 5.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 5.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 5.936 * [backup-simplify]: Simplify (+ 0) into 0 5.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.936 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.937 * [backup-simplify]: Simplify (- 0) into 0 5.937 * [backup-simplify]: Simplify (+ 0 0) into 0 5.938 * [backup-simplify]: Simplify (+ 0) into 0 5.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 5.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 5.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 5.939 * [backup-simplify]: Simplify (+ 0 0) into 0 5.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 5.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 5.940 * [backup-simplify]: Simplify (+ 0 0) into 0 5.940 * [backup-simplify]: Simplify (- 0) into 0 5.940 * [backup-simplify]: Simplify (+ 0 0) into 0 5.942 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 5.944 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 5.944 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2 5.944 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.944 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.944 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.944 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.944 * [backup-simplify]: Simplify -0.5 into -0.5 5.944 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.944 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.944 * [taylor]: Taking taylor expansion of phi1 in phi2 5.944 * [backup-simplify]: Simplify phi1 into phi1 5.944 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.944 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.944 * [taylor]: Taking taylor expansion of phi2 in phi2 5.944 * [backup-simplify]: Simplify 0 into 0 5.944 * [backup-simplify]: Simplify 1 into 1 5.944 * [backup-simplify]: Simplify (/ 1 1) into 1 5.944 * [backup-simplify]: Simplify (+ 0 1) into 1 5.945 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.945 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.945 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.945 * [backup-simplify]: Simplify lambda1 into lambda1 5.945 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.945 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.945 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1 5.945 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 5.945 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 5.945 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 5.945 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 5.946 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 5.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.946 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.946 * [backup-simplify]: Simplify -0.5 into -0.5 5.946 * [taylor]: Taking taylor expansion of phi2 in phi1 5.946 * [backup-simplify]: Simplify phi2 into phi2 5.946 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.946 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.946 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.946 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.946 * [backup-simplify]: Simplify (- 0) into 0 5.946 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.946 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 5.946 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 5.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.946 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.946 * [backup-simplify]: Simplify -0.5 into -0.5 5.946 * [taylor]: Taking taylor expansion of phi1 in phi1 5.946 * [backup-simplify]: Simplify 0 into 0 5.946 * [backup-simplify]: Simplify 1 into 1 5.947 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.947 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.947 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 5.947 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 5.947 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 5.947 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.947 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.947 * [backup-simplify]: Simplify -0.5 into -0.5 5.947 * [taylor]: Taking taylor expansion of phi2 in phi1 5.947 * [backup-simplify]: Simplify phi2 into phi2 5.947 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.947 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.947 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.947 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.947 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.947 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.947 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 5.947 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 5.947 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.947 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.947 * [backup-simplify]: Simplify -0.5 into -0.5 5.947 * [taylor]: Taking taylor expansion of phi1 in phi1 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify 1 into 1 5.948 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.948 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 5.948 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 5.948 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 5.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.948 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.948 * [backup-simplify]: Simplify -0.5 into -0.5 5.948 * [taylor]: Taking taylor expansion of phi1 in phi1 5.948 * [backup-simplify]: Simplify 0 into 0 5.948 * [backup-simplify]: Simplify 1 into 1 5.948 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.948 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.948 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 5.948 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 5.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.948 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.948 * [backup-simplify]: Simplify -0.5 into -0.5 5.948 * [taylor]: Taking taylor expansion of phi2 in phi1 5.948 * [backup-simplify]: Simplify phi2 into phi2 5.948 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.948 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.948 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 5.948 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 5.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.948 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.948 * [backup-simplify]: Simplify -0.5 into -0.5 5.949 * [taylor]: Taking taylor expansion of phi2 in phi1 5.949 * [backup-simplify]: Simplify phi2 into phi2 5.949 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.949 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 5.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.949 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.949 * [backup-simplify]: Simplify -0.5 into -0.5 5.949 * [taylor]: Taking taylor expansion of phi1 in phi1 5.949 * [backup-simplify]: Simplify 0 into 0 5.949 * [backup-simplify]: Simplify 1 into 1 5.949 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.949 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 5.949 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 5.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.949 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.949 * [backup-simplify]: Simplify -0.5 into -0.5 5.949 * [taylor]: Taking taylor expansion of phi1 in phi1 5.949 * [backup-simplify]: Simplify 0 into 0 5.949 * [backup-simplify]: Simplify 1 into 1 5.950 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 5.950 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 5.950 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 5.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.950 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.950 * [backup-simplify]: Simplify -0.5 into -0.5 5.950 * [taylor]: Taking taylor expansion of phi2 in phi1 5.950 * [backup-simplify]: Simplify phi2 into phi2 5.950 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.950 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 5.950 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 5.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 5.950 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.950 * [backup-simplify]: Simplify -0.5 into -0.5 5.950 * [taylor]: Taking taylor expansion of phi2 in phi1 5.950 * [backup-simplify]: Simplify phi2 into phi2 5.950 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 5.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 5.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 5.950 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 5.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 5.950 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.950 * [backup-simplify]: Simplify -0.5 into -0.5 5.950 * [taylor]: Taking taylor expansion of phi1 in phi1 5.950 * [backup-simplify]: Simplify 0 into 0 5.950 * [backup-simplify]: Simplify 1 into 1 5.951 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 5.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 5.951 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 5.951 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 5.951 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 5.951 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 5.951 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 5.951 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 5.952 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 5.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.952 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.952 * [backup-simplify]: Simplify (- 0) into 0 5.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 5.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 5.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 5.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 5.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 5.953 * [backup-simplify]: Simplify (- 0) into 0 5.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 5.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 5.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 5.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 5.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 5.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 5.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 5.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 5.955 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 5.956 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 5.957 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 5.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.962 * [backup-simplify]: Simplify (+ 0) into 0 5.962 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.963 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.964 * [backup-simplify]: Simplify (- 0) into 0 5.964 * [backup-simplify]: Simplify (+ 0 0) into 0 5.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 5.964 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 5.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.965 * [backup-simplify]: Simplify (+ 0) into 0 5.965 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.965 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.966 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.966 * [backup-simplify]: Simplify (+ 0 0) into 0 5.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 5.966 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 5.967 * [backup-simplify]: Simplify (+ 0 0) into 0 5.967 * [backup-simplify]: Simplify (+ 0) into 0 5.967 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.968 * [backup-simplify]: Simplify (- 0) into 0 5.969 * [backup-simplify]: Simplify (+ 0 0) into 0 5.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 5.969 * [backup-simplify]: Simplify (+ 0) into 0 5.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.969 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.970 * [backup-simplify]: Simplify (+ 0 0) into 0 5.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 5.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 5.971 * [backup-simplify]: Simplify (+ 0) into 0 5.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.971 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.972 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.972 * [backup-simplify]: Simplify (+ 0 0) into 0 5.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 5.973 * [backup-simplify]: Simplify (+ 0) into 0 5.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 5.973 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 5.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.974 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 5.974 * [backup-simplify]: Simplify (- 0) into 0 5.975 * [backup-simplify]: Simplify (+ 0 0) into 0 5.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 5.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 5.975 * [backup-simplify]: Simplify (+ 0 0) into 0 5.976 * [backup-simplify]: Simplify (- 0) into 0 5.976 * [backup-simplify]: Simplify (+ 0 0) into 0 5.977 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into 0 5.978 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.979 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.979 * [backup-simplify]: Simplify (- 0) into 0 5.980 * [backup-simplify]: Simplify (+ 0 0) into 0 5.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 5.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 5.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.982 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 5.982 * [backup-simplify]: Simplify (- 0) into 0 5.983 * [backup-simplify]: Simplify (+ 0 0) into 0 5.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 5.983 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 5.984 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.985 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.986 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.987 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.988 * [backup-simplify]: Simplify (+ 0 0) into 0 5.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 5.989 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 5.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.990 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 5.990 * [backup-simplify]: Simplify (+ 0 0) into 0 5.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 5.991 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 5.992 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.993 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.993 * [backup-simplify]: Simplify (+ 0 0) into 0 5.993 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) 0) into (/ 1 (pow phi1 2)) 5.993 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 5.994 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) 5.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.995 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.996 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.996 * [backup-simplify]: Simplify (- 0) into 0 5.996 * [backup-simplify]: Simplify (+ 0 0) into 0 5.997 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 5.998 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.998 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 5.999 * [backup-simplify]: Simplify (+ 0 0) into 0 5.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 6.000 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 6.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.001 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 6.001 * [backup-simplify]: Simplify (+ 0 0) into 0 6.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 6.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 6.003 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.003 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 6.004 * [backup-simplify]: Simplify (- 0) into 0 6.004 * [backup-simplify]: Simplify (+ 0 0) into 0 6.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 6.005 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 6.006 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.006 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 6.007 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.008 * [backup-simplify]: Simplify (+ 0 0) into 0 6.009 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.010 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.011 * [backup-simplify]: Simplify (- 0) into 0 6.011 * [backup-simplify]: Simplify (+ 0 0) into 0 6.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 6.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 6.012 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.013 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 6.013 * [backup-simplify]: Simplify (- 0) into 0 6.013 * [backup-simplify]: Simplify (+ 0 0) into 0 6.014 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 6.014 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 6.015 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.015 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 6.016 * [backup-simplify]: Simplify (+ 0 0) into 0 6.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 6.017 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 6.018 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.018 * [backup-simplify]: Simplify (+ 0) into 0 6.019 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.019 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.019 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.019 * [backup-simplify]: Simplify (+ 0 0) into 0 6.019 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.020 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.021 * [backup-simplify]: Simplify (- 0) into 0 6.021 * [backup-simplify]: Simplify (+ 0 0) into 0 6.021 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.022 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 6.022 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 6.022 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 6.023 * [backup-simplify]: Simplify (+ 0 0) into 0 6.023 * [backup-simplify]: Simplify (+ (/ 2 (* phi2 phi1)) 0) into (* 2 (/ 1 (* phi2 phi1))) 6.023 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 (* phi2 phi1)))) into (* 2 (/ 1 (* phi2 phi1))) 6.023 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1)))) 6.023 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) 6.027 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 6.027 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2 6.027 * [taylor]: Taking taylor expansion of 1/2 in phi2 6.027 * [backup-simplify]: Simplify 1/2 into 1/2 6.028 * [taylor]: Taking taylor expansion of (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2 6.028 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) in phi2 6.028 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2 6.028 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 6.028 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 6.028 * [taylor]: Taking taylor expansion of phi2 in phi2 6.028 * [backup-simplify]: Simplify 0 into 0 6.028 * [backup-simplify]: Simplify 1 into 1 6.028 * [backup-simplify]: Simplify (* 1 1) into 1 6.028 * [backup-simplify]: Simplify (/ 1 1) into 1 6.028 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2 6.028 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 6.028 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.028 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.028 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.028 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.028 * [backup-simplify]: Simplify -0.5 into -0.5 6.028 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.028 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.028 * [taylor]: Taking taylor expansion of phi1 in phi2 6.028 * [backup-simplify]: Simplify phi1 into phi1 6.028 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.028 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.029 * [taylor]: Taking taylor expansion of phi2 in phi2 6.029 * [backup-simplify]: Simplify 0 into 0 6.029 * [backup-simplify]: Simplify 1 into 1 6.029 * [backup-simplify]: Simplify (/ 1 1) into 1 6.029 * [backup-simplify]: Simplify (+ 0 1) into 1 6.029 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.029 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.029 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 6.029 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.029 * [backup-simplify]: Simplify lambda1 into lambda1 6.030 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.030 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.030 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 6.030 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 6.030 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 6.030 * [taylor]: Taking taylor expansion of phi1 in phi2 6.030 * [backup-simplify]: Simplify phi1 into phi1 6.030 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.030 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 6.030 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 6.030 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2 6.030 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2 6.030 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.030 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.030 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.030 * [backup-simplify]: Simplify -0.5 into -0.5 6.030 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.030 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.030 * [taylor]: Taking taylor expansion of phi1 in phi2 6.030 * [backup-simplify]: Simplify phi1 into phi1 6.030 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.030 * [taylor]: Taking taylor expansion of phi2 in phi2 6.030 * [backup-simplify]: Simplify 0 into 0 6.030 * [backup-simplify]: Simplify 1 into 1 6.031 * [backup-simplify]: Simplify (/ 1 1) into 1 6.031 * [backup-simplify]: Simplify (+ 0 1) into 1 6.031 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.031 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.031 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 6.031 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 6.031 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.031 * [backup-simplify]: Simplify lambda1 into lambda1 6.031 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.032 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.032 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.032 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.032 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.032 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.032 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.032 * [backup-simplify]: Simplify -0.5 into -0.5 6.032 * [taylor]: Taking taylor expansion of phi2 in phi2 6.032 * [backup-simplify]: Simplify 0 into 0 6.032 * [backup-simplify]: Simplify 1 into 1 6.032 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.032 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.032 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.032 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.032 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.032 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.032 * [backup-simplify]: Simplify -0.5 into -0.5 6.032 * [taylor]: Taking taylor expansion of phi1 in phi2 6.032 * [backup-simplify]: Simplify phi1 into phi1 6.032 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.032 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.032 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.033 * [backup-simplify]: Simplify (- 0) into 0 6.033 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.033 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.033 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.033 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.033 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.033 * [backup-simplify]: Simplify -0.5 into -0.5 6.033 * [taylor]: Taking taylor expansion of phi2 in phi2 6.033 * [backup-simplify]: Simplify 0 into 0 6.033 * [backup-simplify]: Simplify 1 into 1 6.033 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.033 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.033 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.033 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.033 * [backup-simplify]: Simplify -0.5 into -0.5 6.033 * [taylor]: Taking taylor expansion of phi1 in phi2 6.033 * [backup-simplify]: Simplify phi1 into phi1 6.033 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.034 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.034 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.034 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.034 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.034 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.034 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.034 * [backup-simplify]: Simplify -0.5 into -0.5 6.034 * [taylor]: Taking taylor expansion of phi2 in phi2 6.034 * [backup-simplify]: Simplify 0 into 0 6.034 * [backup-simplify]: Simplify 1 into 1 6.034 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.034 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.034 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.034 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.034 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.034 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.034 * [backup-simplify]: Simplify -0.5 into -0.5 6.034 * [taylor]: Taking taylor expansion of phi2 in phi2 6.034 * [backup-simplify]: Simplify 0 into 0 6.034 * [backup-simplify]: Simplify 1 into 1 6.035 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.035 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.035 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.035 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.035 * [backup-simplify]: Simplify -0.5 into -0.5 6.035 * [taylor]: Taking taylor expansion of phi1 in phi2 6.035 * [backup-simplify]: Simplify phi1 into phi1 6.035 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.035 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.035 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.035 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.035 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.035 * [backup-simplify]: Simplify -0.5 into -0.5 6.035 * [taylor]: Taking taylor expansion of phi1 in phi2 6.035 * [backup-simplify]: Simplify phi1 into phi1 6.035 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.035 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.035 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.035 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.035 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.035 * [backup-simplify]: Simplify -0.5 into -0.5 6.035 * [taylor]: Taking taylor expansion of phi2 in phi2 6.035 * [backup-simplify]: Simplify 0 into 0 6.035 * [backup-simplify]: Simplify 1 into 1 6.036 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.036 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.036 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.036 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.036 * [backup-simplify]: Simplify -0.5 into -0.5 6.036 * [taylor]: Taking taylor expansion of phi2 in phi2 6.036 * [backup-simplify]: Simplify 0 into 0 6.036 * [backup-simplify]: Simplify 1 into 1 6.036 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.036 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.036 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.036 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.036 * [backup-simplify]: Simplify -0.5 into -0.5 6.036 * [taylor]: Taking taylor expansion of phi1 in phi2 6.036 * [backup-simplify]: Simplify phi1 into phi1 6.036 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.036 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.036 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.036 * [backup-simplify]: Simplify -0.5 into -0.5 6.036 * [taylor]: Taking taylor expansion of phi1 in phi2 6.037 * [backup-simplify]: Simplify phi1 into phi1 6.037 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.037 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.037 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) 6.037 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.038 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.038 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.038 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.039 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.039 * [backup-simplify]: Simplify (- 0) into 0 6.039 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.040 * [backup-simplify]: Simplify (- 0) into 0 6.040 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.040 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.042 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.043 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.044 * [backup-simplify]: Simplify (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)) 6.045 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.045 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 6.045 * [taylor]: Taking taylor expansion of 2 in phi2 6.045 * [backup-simplify]: Simplify 2 into 2 6.045 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 6.045 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 6.045 * [taylor]: Taking taylor expansion of phi2 in phi2 6.045 * [backup-simplify]: Simplify 0 into 0 6.045 * [backup-simplify]: Simplify 1 into 1 6.045 * [taylor]: Taking taylor expansion of phi1 in phi2 6.045 * [backup-simplify]: Simplify phi1 into phi1 6.045 * [backup-simplify]: Simplify (* 0 phi1) into 0 6.046 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 6.046 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.046 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2 6.046 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 6.046 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.046 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.046 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.046 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.046 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.046 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.046 * [backup-simplify]: Simplify -0.5 into -0.5 6.046 * [taylor]: Taking taylor expansion of phi2 in phi2 6.046 * [backup-simplify]: Simplify 0 into 0 6.046 * [backup-simplify]: Simplify 1 into 1 6.046 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.046 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.046 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.046 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.046 * [backup-simplify]: Simplify -0.5 into -0.5 6.046 * [taylor]: Taking taylor expansion of phi1 in phi2 6.046 * [backup-simplify]: Simplify phi1 into phi1 6.046 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.047 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.047 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.047 * [backup-simplify]: Simplify (- 0) into 0 6.047 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.047 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.047 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.047 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.047 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.047 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.047 * [backup-simplify]: Simplify -0.5 into -0.5 6.047 * [taylor]: Taking taylor expansion of phi2 in phi2 6.047 * [backup-simplify]: Simplify 0 into 0 6.047 * [backup-simplify]: Simplify 1 into 1 6.047 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.047 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.048 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.048 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.048 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.048 * [backup-simplify]: Simplify -0.5 into -0.5 6.048 * [taylor]: Taking taylor expansion of phi1 in phi2 6.048 * [backup-simplify]: Simplify phi1 into phi1 6.048 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.048 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.048 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.048 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.048 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.048 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.048 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.048 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.048 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.048 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.048 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.048 * [backup-simplify]: Simplify -0.5 into -0.5 6.048 * [taylor]: Taking taylor expansion of phi2 in phi2 6.048 * [backup-simplify]: Simplify 0 into 0 6.048 * [backup-simplify]: Simplify 1 into 1 6.048 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.048 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.048 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.048 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.048 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.049 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.049 * [backup-simplify]: Simplify -0.5 into -0.5 6.049 * [taylor]: Taking taylor expansion of phi2 in phi2 6.049 * [backup-simplify]: Simplify 0 into 0 6.049 * [backup-simplify]: Simplify 1 into 1 6.049 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.049 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.049 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.049 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.049 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.049 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.049 * [backup-simplify]: Simplify -0.5 into -0.5 6.049 * [taylor]: Taking taylor expansion of phi1 in phi2 6.049 * [backup-simplify]: Simplify phi1 into phi1 6.049 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.049 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.049 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.049 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.049 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.049 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.049 * [backup-simplify]: Simplify -0.5 into -0.5 6.049 * [taylor]: Taking taylor expansion of phi1 in phi2 6.049 * [backup-simplify]: Simplify phi1 into phi1 6.049 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.049 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.049 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.049 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.049 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.049 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.050 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.050 * [backup-simplify]: Simplify -0.5 into -0.5 6.050 * [taylor]: Taking taylor expansion of phi2 in phi2 6.050 * [backup-simplify]: Simplify 0 into 0 6.050 * [backup-simplify]: Simplify 1 into 1 6.050 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.050 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.050 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.050 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.050 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.050 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.050 * [backup-simplify]: Simplify -0.5 into -0.5 6.050 * [taylor]: Taking taylor expansion of phi2 in phi2 6.050 * [backup-simplify]: Simplify 0 into 0 6.050 * [backup-simplify]: Simplify 1 into 1 6.050 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.050 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.050 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.050 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.050 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.050 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.051 * [backup-simplify]: Simplify -0.5 into -0.5 6.051 * [taylor]: Taking taylor expansion of phi1 in phi2 6.051 * [backup-simplify]: Simplify phi1 into phi1 6.051 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.051 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.051 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.051 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.051 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.051 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.051 * [backup-simplify]: Simplify -0.5 into -0.5 6.051 * [taylor]: Taking taylor expansion of phi1 in phi2 6.051 * [backup-simplify]: Simplify phi1 into phi1 6.051 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.051 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.051 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.051 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.052 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.052 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.052 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.053 * [backup-simplify]: Simplify (- 0) into 0 6.053 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.054 * [backup-simplify]: Simplify (- 0) into 0 6.054 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.054 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.055 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.056 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.057 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 6.058 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.059 * [backup-simplify]: Simplify (+ 0) into 0 6.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.060 * [backup-simplify]: Simplify (- 0) into 0 6.060 * [backup-simplify]: Simplify (+ 0 0) into 0 6.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.061 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.066 * [backup-simplify]: Simplify (+ 0) into 0 6.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.067 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.068 * [backup-simplify]: Simplify (+ 0 0) into 0 6.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.068 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.068 * [backup-simplify]: Simplify (+ 0 0) into 0 6.069 * [backup-simplify]: Simplify (+ 0) into 0 6.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.070 * [backup-simplify]: Simplify (- 0) into 0 6.070 * [backup-simplify]: Simplify (+ 0 0) into 0 6.071 * [backup-simplify]: Simplify (+ 0) into 0 6.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.071 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.072 * [backup-simplify]: Simplify (+ 0 0) into 0 6.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.073 * [backup-simplify]: Simplify (+ 0) into 0 6.073 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.073 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.074 * [backup-simplify]: Simplify (+ 0 0) into 0 6.075 * [backup-simplify]: Simplify (+ 0) into 0 6.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.075 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.076 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.076 * [backup-simplify]: Simplify (- 0) into 0 6.076 * [backup-simplify]: Simplify (+ 0 0) into 0 6.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.077 * [backup-simplify]: Simplify (+ 0 0) into 0 6.077 * [backup-simplify]: Simplify (- 0) into 0 6.077 * [backup-simplify]: Simplify (+ 0 0) into 0 6.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 6.081 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 6.081 * [backup-simplify]: Simplify (+ 1 0) into 1 6.081 * [backup-simplify]: Simplify (+ 1 0) into 1 6.082 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.082 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.082 * [backup-simplify]: Simplify (+ 0 0) into 0 6.082 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 6.082 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1)) 6.082 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 6.083 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 6.084 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1)))) 6.085 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.087 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))) 6.087 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))) in phi1 6.087 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1)) in phi1 6.087 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1 6.088 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1 6.088 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 6.088 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 6.088 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 6.088 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 6.088 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.088 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.088 * [backup-simplify]: Simplify -0.5 into -0.5 6.088 * [taylor]: Taking taylor expansion of phi2 in phi1 6.088 * [backup-simplify]: Simplify phi2 into phi2 6.088 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.088 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.088 * [backup-simplify]: Simplify (- 0) into 0 6.088 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.088 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 6.088 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.088 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.089 * [backup-simplify]: Simplify -0.5 into -0.5 6.089 * [taylor]: Taking taylor expansion of phi1 in phi1 6.089 * [backup-simplify]: Simplify 0 into 0 6.089 * [backup-simplify]: Simplify 1 into 1 6.089 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.089 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.089 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 6.089 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 6.089 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.089 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.089 * [backup-simplify]: Simplify -0.5 into -0.5 6.089 * [taylor]: Taking taylor expansion of phi2 in phi1 6.089 * [backup-simplify]: Simplify phi2 into phi2 6.089 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.089 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.089 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.089 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.089 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.089 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 6.089 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.089 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.089 * [backup-simplify]: Simplify -0.5 into -0.5 6.089 * [taylor]: Taking taylor expansion of phi1 in phi1 6.089 * [backup-simplify]: Simplify 0 into 0 6.090 * [backup-simplify]: Simplify 1 into 1 6.090 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.090 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.090 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 6.090 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 6.090 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.090 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.090 * [backup-simplify]: Simplify -0.5 into -0.5 6.090 * [taylor]: Taking taylor expansion of phi2 in phi1 6.090 * [backup-simplify]: Simplify phi2 into phi2 6.090 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.090 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.090 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.090 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 6.090 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.090 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.090 * [backup-simplify]: Simplify -0.5 into -0.5 6.090 * [taylor]: Taking taylor expansion of phi1 in phi1 6.090 * [backup-simplify]: Simplify 0 into 0 6.090 * [backup-simplify]: Simplify 1 into 1 6.091 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.091 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.091 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 6.091 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.091 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.091 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.091 * [backup-simplify]: Simplify -0.5 into -0.5 6.091 * [taylor]: Taking taylor expansion of phi2 in phi1 6.091 * [backup-simplify]: Simplify phi2 into phi2 6.091 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.091 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.091 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.091 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.091 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.091 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.091 * [backup-simplify]: Simplify -0.5 into -0.5 6.091 * [taylor]: Taking taylor expansion of phi1 in phi1 6.091 * [backup-simplify]: Simplify 0 into 0 6.091 * [backup-simplify]: Simplify 1 into 1 6.091 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.091 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.091 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 6.091 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.091 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.091 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.091 * [backup-simplify]: Simplify -0.5 into -0.5 6.091 * [taylor]: Taking taylor expansion of phi2 in phi1 6.092 * [backup-simplify]: Simplify phi2 into phi2 6.092 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.092 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.092 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.092 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 6.092 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.092 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.092 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.092 * [backup-simplify]: Simplify -0.5 into -0.5 6.092 * [taylor]: Taking taylor expansion of phi1 in phi1 6.092 * [backup-simplify]: Simplify 0 into 0 6.092 * [backup-simplify]: Simplify 1 into 1 6.092 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.092 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.092 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 6.092 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.092 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.092 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.092 * [backup-simplify]: Simplify -0.5 into -0.5 6.092 * [taylor]: Taking taylor expansion of phi2 in phi1 6.092 * [backup-simplify]: Simplify phi2 into phi2 6.092 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.092 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.092 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.092 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.092 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.092 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.092 * [backup-simplify]: Simplify -0.5 into -0.5 6.092 * [taylor]: Taking taylor expansion of phi1 in phi1 6.092 * [backup-simplify]: Simplify 0 into 0 6.092 * [backup-simplify]: Simplify 1 into 1 6.093 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.093 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.093 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.093 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.093 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.094 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.094 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.094 * [backup-simplify]: Simplify (- 0) into 0 6.095 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.095 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 6.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 6.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 6.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.095 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.096 * [backup-simplify]: Simplify (- 0) into 0 6.096 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 6.096 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 6.096 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 6.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 6.097 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.098 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.099 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 6.100 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 6.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.101 * [backup-simplify]: Simplify (+ 0) into 0 6.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.102 * [backup-simplify]: Simplify (- 0) into 0 6.102 * [backup-simplify]: Simplify (+ 0 0) into 0 6.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.103 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.103 * [backup-simplify]: Simplify (+ 0) into 0 6.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.105 * [backup-simplify]: Simplify (+ 0 0) into 0 6.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.105 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.105 * [backup-simplify]: Simplify (+ 0 0) into 0 6.105 * [backup-simplify]: Simplify (+ 0) into 0 6.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.107 * [backup-simplify]: Simplify (+ 0 0) into 0 6.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 6.107 * [backup-simplify]: Simplify (+ 0) into 0 6.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.108 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.109 * [backup-simplify]: Simplify (- 0) into 0 6.109 * [backup-simplify]: Simplify (+ 0 0) into 0 6.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 6.110 * [backup-simplify]: Simplify (+ 0) into 0 6.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.111 * [backup-simplify]: Simplify (- 0) into 0 6.111 * [backup-simplify]: Simplify (+ 0 0) into 0 6.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 6.112 * [backup-simplify]: Simplify (+ 0) into 0 6.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.112 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.113 * [backup-simplify]: Simplify (+ 0 0) into 0 6.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 6.114 * [backup-simplify]: Simplify (+ 0 0) into 0 6.114 * [backup-simplify]: Simplify (- 0) into 0 6.114 * [backup-simplify]: Simplify (+ 0 0) into 0 6.116 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 6.117 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 6.117 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.117 * [taylor]: Taking taylor expansion of phi1 in phi1 6.117 * [backup-simplify]: Simplify 0 into 0 6.117 * [backup-simplify]: Simplify 1 into 1 6.118 * [backup-simplify]: Simplify (/ 1 1) into 1 6.119 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) 6.120 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) 6.120 * [taylor]: Taking taylor expansion of (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in lambda1 6.120 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1 6.120 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1 6.120 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1 6.120 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1 6.120 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 6.120 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 6.120 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.120 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.120 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.120 * [backup-simplify]: Simplify -0.5 into -0.5 6.120 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.120 * [backup-simplify]: Simplify phi2 into phi2 6.120 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.120 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.120 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.120 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.121 * [backup-simplify]: Simplify (- 0) into 0 6.121 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.121 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 6.121 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.121 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.121 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.121 * [backup-simplify]: Simplify -0.5 into -0.5 6.121 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.121 * [backup-simplify]: Simplify phi1 into phi1 6.121 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.121 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.121 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.121 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.121 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.121 * [backup-simplify]: Simplify (- 0) into 0 6.121 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.121 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 6.121 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 6.121 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.121 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.121 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.122 * [backup-simplify]: Simplify -0.5 into -0.5 6.122 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.122 * [backup-simplify]: Simplify phi2 into phi2 6.122 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.122 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.122 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.122 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.122 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.122 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.122 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 6.122 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.122 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.122 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.122 * [backup-simplify]: Simplify -0.5 into -0.5 6.122 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.122 * [backup-simplify]: Simplify phi1 into phi1 6.122 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.122 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.122 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.122 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.122 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.122 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.122 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1 6.122 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 6.122 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.122 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.122 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.122 * [backup-simplify]: Simplify -0.5 into -0.5 6.122 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.122 * [backup-simplify]: Simplify phi2 into phi2 6.122 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.123 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.123 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.123 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 6.123 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.123 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.123 * [backup-simplify]: Simplify -0.5 into -0.5 6.123 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.123 * [backup-simplify]: Simplify phi1 into phi1 6.123 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.123 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.123 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.123 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 6.123 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.123 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.123 * [backup-simplify]: Simplify -0.5 into -0.5 6.123 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.123 * [backup-simplify]: Simplify phi1 into phi1 6.123 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.123 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.123 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.123 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.123 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.123 * [backup-simplify]: Simplify -0.5 into -0.5 6.123 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.123 * [backup-simplify]: Simplify phi2 into phi2 6.123 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.123 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.123 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.123 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 6.123 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.123 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.123 * [backup-simplify]: Simplify -0.5 into -0.5 6.123 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.123 * [backup-simplify]: Simplify phi2 into phi2 6.123 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.124 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.124 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 6.124 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.124 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.124 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.124 * [backup-simplify]: Simplify -0.5 into -0.5 6.124 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.124 * [backup-simplify]: Simplify phi1 into phi1 6.124 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.124 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.124 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 6.124 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.124 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.124 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.124 * [backup-simplify]: Simplify -0.5 into -0.5 6.124 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.124 * [backup-simplify]: Simplify phi1 into phi1 6.124 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.124 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.124 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.124 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.124 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.124 * [backup-simplify]: Simplify -0.5 into -0.5 6.124 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.124 * [backup-simplify]: Simplify phi2 into phi2 6.124 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.124 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.124 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.125 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.125 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.125 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.125 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.125 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.126 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.126 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.127 * [backup-simplify]: Simplify (- 0) into 0 6.127 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.127 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.127 * [backup-simplify]: Simplify (- 0) into 0 6.127 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 6.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 6.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 6.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.128 * [backup-simplify]: Simplify (- 0) into 0 6.128 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.128 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.129 * [backup-simplify]: Simplify (- 0) into 0 6.129 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.129 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 6.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) 6.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 6.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 6.130 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 6.131 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 6.132 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) 6.133 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 6.134 * [backup-simplify]: Simplify (+ 0) into 0 6.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.135 * [backup-simplify]: Simplify (- 0) into 0 6.135 * [backup-simplify]: Simplify (+ 0 0) into 0 6.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.136 * [backup-simplify]: Simplify (+ 0) into 0 6.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.137 * [backup-simplify]: Simplify (- 0) into 0 6.137 * [backup-simplify]: Simplify (+ 0 0) into 0 6.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.138 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.138 * [backup-simplify]: Simplify (+ 0) into 0 6.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.138 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.139 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.139 * [backup-simplify]: Simplify (+ 0 0) into 0 6.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.140 * [backup-simplify]: Simplify (+ 0) into 0 6.140 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.141 * [backup-simplify]: Simplify (+ 0 0) into 0 6.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.141 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.142 * [backup-simplify]: Simplify (+ 0 0) into 0 6.142 * [backup-simplify]: Simplify (+ 0) into 0 6.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.142 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.143 * [backup-simplify]: Simplify (- 0) into 0 6.144 * [backup-simplify]: Simplify (+ 0 0) into 0 6.144 * [backup-simplify]: Simplify (+ 0) into 0 6.144 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.145 * [backup-simplify]: Simplify (+ 0 0) into 0 6.145 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.146 * [backup-simplify]: Simplify (+ 0) into 0 6.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.147 * [backup-simplify]: Simplify (- 0) into 0 6.147 * [backup-simplify]: Simplify (+ 0 0) into 0 6.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 6.148 * [backup-simplify]: Simplify (+ 0) into 0 6.148 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.148 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.149 * [backup-simplify]: Simplify (+ 0 0) into 0 6.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 6.150 * [backup-simplify]: Simplify (+ 0) into 0 6.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.150 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.151 * [backup-simplify]: Simplify (+ 0 0) into 0 6.151 * [backup-simplify]: Simplify (+ 0) into 0 6.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.152 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.153 * [backup-simplify]: Simplify (- 0) into 0 6.153 * [backup-simplify]: Simplify (+ 0 0) into 0 6.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.153 * [backup-simplify]: Simplify (+ 0) into 0 6.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.154 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.154 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.155 * [backup-simplify]: Simplify (+ 0 0) into 0 6.155 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 6.155 * [backup-simplify]: Simplify (+ 0) into 0 6.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.156 * [backup-simplify]: Simplify (- 0) into 0 6.157 * [backup-simplify]: Simplify (+ 0 0) into 0 6.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 6.157 * [backup-simplify]: Simplify (+ 0 0) into 0 6.157 * [backup-simplify]: Simplify (- 0) into 0 6.158 * [backup-simplify]: Simplify (+ 0 0) into 0 6.160 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 6.161 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 6.162 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 6.163 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 6.163 * [taylor]: Taking taylor expansion of (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1 6.163 * [taylor]: Taking taylor expansion of -1 in phi1 6.163 * [backup-simplify]: Simplify -1 into -1 6.163 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1 6.163 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1 6.164 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.164 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.164 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.164 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.164 * [backup-simplify]: Simplify -0.5 into -0.5 6.164 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.164 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.164 * [taylor]: Taking taylor expansion of phi1 in phi1 6.164 * [backup-simplify]: Simplify 0 into 0 6.164 * [backup-simplify]: Simplify 1 into 1 6.168 * [backup-simplify]: Simplify (/ 1 1) into 1 6.168 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.168 * [taylor]: Taking taylor expansion of phi2 in phi1 6.168 * [backup-simplify]: Simplify phi2 into phi2 6.168 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.169 * [backup-simplify]: Simplify (+ 1 0) into 1 6.169 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.169 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.169 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.169 * [backup-simplify]: Simplify lambda1 into lambda1 6.170 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.170 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 6.170 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1 6.170 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1 6.170 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 6.170 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 6.170 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 6.170 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 6.170 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.170 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.170 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.170 * [backup-simplify]: Simplify -0.5 into -0.5 6.170 * [taylor]: Taking taylor expansion of phi2 in phi1 6.170 * [backup-simplify]: Simplify phi2 into phi2 6.170 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.170 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.170 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.171 * [backup-simplify]: Simplify (- 0) into 0 6.171 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.171 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 6.171 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.171 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.171 * [backup-simplify]: Simplify -0.5 into -0.5 6.171 * [taylor]: Taking taylor expansion of phi1 in phi1 6.171 * [backup-simplify]: Simplify 0 into 0 6.171 * [backup-simplify]: Simplify 1 into 1 6.171 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.171 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 6.171 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 6.171 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.171 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.171 * [backup-simplify]: Simplify -0.5 into -0.5 6.171 * [taylor]: Taking taylor expansion of phi2 in phi1 6.171 * [backup-simplify]: Simplify phi2 into phi2 6.171 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.171 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.172 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.172 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 6.172 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.172 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.172 * [backup-simplify]: Simplify -0.5 into -0.5 6.172 * [taylor]: Taking taylor expansion of phi1 in phi1 6.172 * [backup-simplify]: Simplify 0 into 0 6.172 * [backup-simplify]: Simplify 1 into 1 6.172 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.172 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 6.172 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 6.172 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.172 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.172 * [backup-simplify]: Simplify -0.5 into -0.5 6.172 * [taylor]: Taking taylor expansion of phi2 in phi1 6.172 * [backup-simplify]: Simplify phi2 into phi2 6.172 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.172 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 6.172 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.172 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.172 * [backup-simplify]: Simplify -0.5 into -0.5 6.172 * [taylor]: Taking taylor expansion of phi1 in phi1 6.172 * [backup-simplify]: Simplify 0 into 0 6.173 * [backup-simplify]: Simplify 1 into 1 6.173 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.173 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.173 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 6.173 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.173 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.173 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.173 * [backup-simplify]: Simplify -0.5 into -0.5 6.173 * [taylor]: Taking taylor expansion of phi2 in phi1 6.173 * [backup-simplify]: Simplify phi2 into phi2 6.173 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.173 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.173 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.173 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.173 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.173 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.173 * [backup-simplify]: Simplify -0.5 into -0.5 6.173 * [taylor]: Taking taylor expansion of phi1 in phi1 6.173 * [backup-simplify]: Simplify 0 into 0 6.173 * [backup-simplify]: Simplify 1 into 1 6.174 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.174 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.174 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 6.174 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.174 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.174 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.174 * [backup-simplify]: Simplify -0.5 into -0.5 6.174 * [taylor]: Taking taylor expansion of phi2 in phi1 6.174 * [backup-simplify]: Simplify phi2 into phi2 6.174 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.174 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.174 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.174 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 6.174 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.174 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.174 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.174 * [backup-simplify]: Simplify -0.5 into -0.5 6.174 * [taylor]: Taking taylor expansion of phi1 in phi1 6.174 * [backup-simplify]: Simplify 0 into 0 6.174 * [backup-simplify]: Simplify 1 into 1 6.174 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.174 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.174 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 6.174 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.174 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.174 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.174 * [backup-simplify]: Simplify -0.5 into -0.5 6.174 * [taylor]: Taking taylor expansion of phi2 in phi1 6.174 * [backup-simplify]: Simplify phi2 into phi2 6.175 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.175 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.175 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.175 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.175 * [backup-simplify]: Simplify -0.5 into -0.5 6.175 * [taylor]: Taking taylor expansion of phi1 in phi1 6.175 * [backup-simplify]: Simplify 0 into 0 6.175 * [backup-simplify]: Simplify 1 into 1 6.175 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.176 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.176 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.177 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.177 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.177 * [backup-simplify]: Simplify (- 0) into 0 6.178 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.178 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 6.178 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 6.178 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 6.178 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.178 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.178 * [backup-simplify]: Simplify (- 0) into 0 6.178 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.178 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.179 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 6.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 6.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 6.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 6.180 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.181 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.182 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 6.183 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 6.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.183 * [backup-simplify]: Simplify (+ 0) into 0 6.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.185 * [backup-simplify]: Simplify (- 0) into 0 6.185 * [backup-simplify]: Simplify (+ 0 0) into 0 6.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.185 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.186 * [backup-simplify]: Simplify (+ 0) into 0 6.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.186 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.187 * [backup-simplify]: Simplify (+ 0 0) into 0 6.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.187 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.188 * [backup-simplify]: Simplify (+ 0 0) into 0 6.188 * [backup-simplify]: Simplify (+ 0) into 0 6.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.189 * [backup-simplify]: Simplify (- 0) into 0 6.190 * [backup-simplify]: Simplify (+ 0 0) into 0 6.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 6.190 * [backup-simplify]: Simplify (+ 0) into 0 6.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.192 * [backup-simplify]: Simplify (+ 0 0) into 0 6.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 6.192 * [backup-simplify]: Simplify (+ 0) into 0 6.193 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.193 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.194 * [backup-simplify]: Simplify (+ 0 0) into 0 6.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 6.194 * [backup-simplify]: Simplify (+ 0) into 0 6.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.196 * [backup-simplify]: Simplify (- 0) into 0 6.196 * [backup-simplify]: Simplify (+ 0 0) into 0 6.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 6.196 * [backup-simplify]: Simplify (+ 0 0) into 0 6.197 * [backup-simplify]: Simplify (- 0) into 0 6.197 * [backup-simplify]: Simplify (+ 0 0) into 0 6.199 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 6.200 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 6.200 * [taylor]: Taking taylor expansion of 0 in phi1 6.200 * [backup-simplify]: Simplify 0 into 0 6.200 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in lambda1 6.200 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in lambda1 6.200 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1 6.200 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 6.200 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 6.200 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.200 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.200 * [backup-simplify]: Simplify -0.5 into -0.5 6.200 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.200 * [backup-simplify]: Simplify phi2 into phi2 6.200 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.201 * [backup-simplify]: Simplify (- 0) into 0 6.201 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.201 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 6.201 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.201 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.201 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.201 * [backup-simplify]: Simplify -0.5 into -0.5 6.201 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.201 * [backup-simplify]: Simplify phi1 into phi1 6.201 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.201 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.202 * [backup-simplify]: Simplify (- 0) into 0 6.202 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.202 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 6.202 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 6.202 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.202 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.202 * [backup-simplify]: Simplify -0.5 into -0.5 6.202 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.202 * [backup-simplify]: Simplify phi2 into phi2 6.202 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.202 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.202 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.202 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.202 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 6.202 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.202 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.202 * [backup-simplify]: Simplify -0.5 into -0.5 6.202 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.202 * [backup-simplify]: Simplify phi1 into phi1 6.202 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.203 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.203 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.203 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in lambda1 6.203 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in lambda1 6.203 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.203 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.203 * [backup-simplify]: Simplify -0.5 into -0.5 6.203 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.203 * [backup-simplify]: Simplify phi1 into phi1 6.203 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.203 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.203 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in lambda1 6.203 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.203 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.203 * [backup-simplify]: Simplify -0.5 into -0.5 6.203 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.203 * [backup-simplify]: Simplify phi1 into phi1 6.203 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.203 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.203 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in lambda1 6.203 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.203 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.203 * [backup-simplify]: Simplify -0.5 into -0.5 6.203 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.203 * [backup-simplify]: Simplify phi2 into phi2 6.203 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.203 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.203 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.203 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.204 * [backup-simplify]: Simplify -0.5 into -0.5 6.204 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.204 * [backup-simplify]: Simplify phi2 into phi2 6.204 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.204 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in lambda1 6.204 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.204 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.204 * [backup-simplify]: Simplify -0.5 into -0.5 6.204 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.204 * [backup-simplify]: Simplify phi1 into phi1 6.204 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.204 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in lambda1 6.204 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.204 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.204 * [backup-simplify]: Simplify -0.5 into -0.5 6.204 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.204 * [backup-simplify]: Simplify phi1 into phi1 6.204 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.204 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in lambda1 6.204 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.204 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.204 * [backup-simplify]: Simplify -0.5 into -0.5 6.204 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.204 * [backup-simplify]: Simplify phi2 into phi2 6.204 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.204 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.204 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.205 * [backup-simplify]: Simplify -0.5 into -0.5 6.205 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.205 * [backup-simplify]: Simplify phi2 into phi2 6.205 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.205 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.205 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.205 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.206 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.206 * [backup-simplify]: Simplify (- 0) into 0 6.206 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.207 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.207 * [backup-simplify]: Simplify (- 0) into 0 6.207 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.207 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 6.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 6.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 6.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.208 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.208 * [backup-simplify]: Simplify (- 0) into 0 6.208 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.208 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.209 * [backup-simplify]: Simplify (- 0) into 0 6.209 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 6.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 6.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 6.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 6.210 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 6.211 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 6.212 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 6.213 * [backup-simplify]: Simplify (+ 0) into 0 6.213 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.214 * [backup-simplify]: Simplify (- 0) into 0 6.214 * [backup-simplify]: Simplify (+ 0 0) into 0 6.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.215 * [backup-simplify]: Simplify (+ 0) into 0 6.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.215 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.216 * [backup-simplify]: Simplify (- 0) into 0 6.216 * [backup-simplify]: Simplify (+ 0 0) into 0 6.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.217 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.217 * [backup-simplify]: Simplify (+ 0) into 0 6.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.218 * [backup-simplify]: Simplify (+ 0 0) into 0 6.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.219 * [backup-simplify]: Simplify (+ 0) into 0 6.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.220 * [backup-simplify]: Simplify (+ 0 0) into 0 6.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.221 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.221 * [backup-simplify]: Simplify (+ 0 0) into 0 6.221 * [backup-simplify]: Simplify (+ 0) into 0 6.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.222 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.223 * [backup-simplify]: Simplify (+ 0 0) into 0 6.223 * [backup-simplify]: Simplify (+ 0) into 0 6.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.223 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.224 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.224 * [backup-simplify]: Simplify (- 0) into 0 6.224 * [backup-simplify]: Simplify (+ 0 0) into 0 6.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.225 * [backup-simplify]: Simplify (+ 0) into 0 6.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.225 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.226 * [backup-simplify]: Simplify (+ 0 0) into 0 6.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 6.227 * [backup-simplify]: Simplify (+ 0) into 0 6.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.227 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.228 * [backup-simplify]: Simplify (- 0) into 0 6.229 * [backup-simplify]: Simplify (+ 0 0) into 0 6.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 6.229 * [backup-simplify]: Simplify (+ 0) into 0 6.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.230 * [backup-simplify]: Simplify (- 0) into 0 6.231 * [backup-simplify]: Simplify (+ 0 0) into 0 6.231 * [backup-simplify]: Simplify (+ 0) into 0 6.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.232 * [backup-simplify]: Simplify (+ 0 0) into 0 6.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.233 * [backup-simplify]: Simplify (+ 0) into 0 6.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.233 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.234 * [backup-simplify]: Simplify (- 0) into 0 6.234 * [backup-simplify]: Simplify (+ 0 0) into 0 6.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 6.235 * [backup-simplify]: Simplify (+ 0) into 0 6.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.237 * [backup-simplify]: Simplify (+ 0 0) into 0 6.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 6.237 * [backup-simplify]: Simplify (+ 0 0) into 0 6.237 * [backup-simplify]: Simplify (- 0) into 0 6.237 * [backup-simplify]: Simplify (+ 0 0) into 0 6.239 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into 0 6.239 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 6.239 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 6.239 * [backup-simplify]: Simplify (+ 0) into 0 6.240 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.240 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.240 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.240 * [backup-simplify]: Simplify (+ 0 0) into 0 6.240 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.241 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.241 * [backup-simplify]: Simplify (- 0) into 0 6.242 * [backup-simplify]: Simplify (+ 0 0) into 0 6.242 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.242 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 6.242 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 6.242 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 6.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 6.243 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.244 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.246 * [backup-simplify]: Simplify (- 0) into 0 6.246 * [backup-simplify]: Simplify (+ 0 0) into 0 6.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 6.247 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.249 * [backup-simplify]: Simplify (- 0) into 0 6.249 * [backup-simplify]: Simplify (+ 0 0) into 0 6.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2)))))) into 0 6.251 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))))) into 0 6.251 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.253 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.253 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.254 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.255 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.255 * [backup-simplify]: Simplify (+ 0 0) into 0 6.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 6.257 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.259 * [backup-simplify]: Simplify (+ 0 0) into 0 6.259 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2)))))) into 0 6.260 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))))) into 0 6.261 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.262 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.262 * [backup-simplify]: Simplify (+ 0 0) into 0 6.263 * [backup-simplify]: Simplify (+ 0 0) into 0 6.263 * [backup-simplify]: Simplify (+ 0 0) into 0 6.263 * [backup-simplify]: Simplify (+ 0 0) into 0 6.264 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.265 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.266 * [backup-simplify]: Simplify (- 0) into 0 6.266 * [backup-simplify]: Simplify (+ 0 0) into 0 6.266 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.273 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.274 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.274 * [backup-simplify]: Simplify (+ 0 0) into 0 6.275 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 6.275 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.276 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.277 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.278 * [backup-simplify]: Simplify (+ 0 0) into 0 6.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0 6.279 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.280 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.281 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.281 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.281 * [backup-simplify]: Simplify (- 0) into 0 6.281 * [backup-simplify]: Simplify (+ 0 0) into 0 6.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into 0 6.283 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.284 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.284 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 6.284 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0 6.285 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0 6.285 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.287 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.288 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.288 * [backup-simplify]: Simplify (+ 0 0) into 0 6.289 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.289 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.290 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.291 * [backup-simplify]: Simplify (- 0) into 0 6.291 * [backup-simplify]: Simplify (+ 0 0) into 0 6.292 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 6.292 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.293 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.294 * [backup-simplify]: Simplify (- 0) into 0 6.295 * [backup-simplify]: Simplify (+ 0 0) into 0 6.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0 6.296 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 6.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 6.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 6.298 * [backup-simplify]: Simplify (+ 0 0) into 0 6.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into 0 6.299 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 6.301 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.301 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.302 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.302 * [backup-simplify]: Simplify (+ 0 0) into 0 6.303 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.303 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.303 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.304 * [backup-simplify]: Simplify (- 0) into 0 6.304 * [backup-simplify]: Simplify (+ 0 0) into 0 6.304 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.305 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0 6.305 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0 6.306 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0 6.306 * [backup-simplify]: Simplify (+ 0 0) into 0 6.307 * [backup-simplify]: Simplify (+ 0 0) into 0 6.307 * [backup-simplify]: Simplify (+ 0 0) into 0 6.307 * [backup-simplify]: Simplify (- 0) into 0 6.307 * [backup-simplify]: Simplify (+ 0 0) into 0 6.315 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 6.315 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2 6.315 * [taylor]: Taking taylor expansion of 1/2 in phi2 6.315 * [backup-simplify]: Simplify 1/2 into 1/2 6.315 * [taylor]: Taking taylor expansion of (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2 6.315 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) in phi2 6.315 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) in phi2 6.315 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) in phi2 6.316 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2 6.316 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2 6.316 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 6.316 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 6.316 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.316 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.316 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.316 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.316 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.316 * [backup-simplify]: Simplify -0.5 into -0.5 6.316 * [taylor]: Taking taylor expansion of phi2 in phi2 6.316 * [backup-simplify]: Simplify 0 into 0 6.316 * [backup-simplify]: Simplify 1 into 1 6.316 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.316 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.316 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.316 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.316 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.316 * [backup-simplify]: Simplify -0.5 into -0.5 6.316 * [taylor]: Taking taylor expansion of phi1 in phi2 6.317 * [backup-simplify]: Simplify phi1 into phi1 6.317 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.317 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.317 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.317 * [backup-simplify]: Simplify (- 0) into 0 6.317 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.317 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.317 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.317 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.317 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.317 * [backup-simplify]: Simplify -0.5 into -0.5 6.317 * [taylor]: Taking taylor expansion of phi2 in phi2 6.317 * [backup-simplify]: Simplify 0 into 0 6.317 * [backup-simplify]: Simplify 1 into 1 6.318 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.318 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.318 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.318 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.318 * [backup-simplify]: Simplify -0.5 into -0.5 6.318 * [taylor]: Taking taylor expansion of phi1 in phi2 6.318 * [backup-simplify]: Simplify phi1 into phi1 6.318 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.318 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.318 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.318 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.318 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 6.318 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.318 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.318 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.318 * [backup-simplify]: Simplify -0.5 into -0.5 6.318 * [taylor]: Taking taylor expansion of phi2 in phi2 6.318 * [backup-simplify]: Simplify 0 into 0 6.318 * [backup-simplify]: Simplify 1 into 1 6.319 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.319 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.319 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.319 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.319 * [backup-simplify]: Simplify -0.5 into -0.5 6.319 * [taylor]: Taking taylor expansion of phi2 in phi2 6.319 * [backup-simplify]: Simplify 0 into 0 6.319 * [backup-simplify]: Simplify 1 into 1 6.319 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.319 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.319 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.319 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.319 * [backup-simplify]: Simplify -0.5 into -0.5 6.319 * [taylor]: Taking taylor expansion of phi1 in phi2 6.319 * [backup-simplify]: Simplify phi1 into phi1 6.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.319 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.319 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.319 * [backup-simplify]: Simplify -0.5 into -0.5 6.319 * [taylor]: Taking taylor expansion of phi1 in phi2 6.319 * [backup-simplify]: Simplify phi1 into phi1 6.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.320 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.320 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.320 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.320 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.320 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.320 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.320 * [backup-simplify]: Simplify -0.5 into -0.5 6.320 * [taylor]: Taking taylor expansion of phi2 in phi2 6.320 * [backup-simplify]: Simplify 0 into 0 6.320 * [backup-simplify]: Simplify 1 into 1 6.320 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.320 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.320 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.320 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.320 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.320 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.320 * [backup-simplify]: Simplify -0.5 into -0.5 6.320 * [taylor]: Taking taylor expansion of phi2 in phi2 6.320 * [backup-simplify]: Simplify 0 into 0 6.320 * [backup-simplify]: Simplify 1 into 1 6.320 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.321 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.321 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.321 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.321 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.321 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.321 * [backup-simplify]: Simplify -0.5 into -0.5 6.321 * [taylor]: Taking taylor expansion of phi1 in phi2 6.321 * [backup-simplify]: Simplify phi1 into phi1 6.321 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.321 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.321 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.321 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.321 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.321 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.321 * [backup-simplify]: Simplify -0.5 into -0.5 6.321 * [taylor]: Taking taylor expansion of phi1 in phi2 6.321 * [backup-simplify]: Simplify phi1 into phi1 6.321 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.321 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.321 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.321 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.321 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.321 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.321 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.321 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.321 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.321 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.321 * [backup-simplify]: Simplify -0.5 into -0.5 6.321 * [taylor]: Taking taylor expansion of phi2 in phi2 6.321 * [backup-simplify]: Simplify 0 into 0 6.321 * [backup-simplify]: Simplify 1 into 1 6.322 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.322 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.322 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.322 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.322 * [backup-simplify]: Simplify -0.5 into -0.5 6.322 * [taylor]: Taking taylor expansion of phi1 in phi2 6.322 * [backup-simplify]: Simplify phi1 into phi1 6.322 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.322 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.322 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.322 * [backup-simplify]: Simplify (- 0) into 0 6.322 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.322 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.323 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.323 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.323 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.323 * [backup-simplify]: Simplify -0.5 into -0.5 6.323 * [taylor]: Taking taylor expansion of phi2 in phi2 6.323 * [backup-simplify]: Simplify 0 into 0 6.323 * [backup-simplify]: Simplify 1 into 1 6.323 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.323 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.323 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.323 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.323 * [backup-simplify]: Simplify -0.5 into -0.5 6.323 * [taylor]: Taking taylor expansion of phi1 in phi2 6.323 * [backup-simplify]: Simplify phi1 into phi1 6.323 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.323 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.323 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.324 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.324 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.324 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.324 * [backup-simplify]: Simplify -0.5 into -0.5 6.324 * [taylor]: Taking taylor expansion of phi2 in phi2 6.324 * [backup-simplify]: Simplify 0 into 0 6.324 * [backup-simplify]: Simplify 1 into 1 6.324 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.324 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.324 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.324 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.324 * [backup-simplify]: Simplify -0.5 into -0.5 6.324 * [taylor]: Taking taylor expansion of phi2 in phi2 6.324 * [backup-simplify]: Simplify 0 into 0 6.324 * [backup-simplify]: Simplify 1 into 1 6.324 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.324 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.324 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.324 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.325 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.325 * [backup-simplify]: Simplify -0.5 into -0.5 6.325 * [taylor]: Taking taylor expansion of phi1 in phi2 6.325 * [backup-simplify]: Simplify phi1 into phi1 6.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.325 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.325 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.325 * [backup-simplify]: Simplify -0.5 into -0.5 6.325 * [taylor]: Taking taylor expansion of phi1 in phi2 6.325 * [backup-simplify]: Simplify phi1 into phi1 6.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.325 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.325 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.325 * [backup-simplify]: Simplify -0.5 into -0.5 6.325 * [taylor]: Taking taylor expansion of phi2 in phi2 6.325 * [backup-simplify]: Simplify 0 into 0 6.325 * [backup-simplify]: Simplify 1 into 1 6.325 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.325 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.325 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.326 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.326 * [backup-simplify]: Simplify -0.5 into -0.5 6.326 * [taylor]: Taking taylor expansion of phi2 in phi2 6.326 * [backup-simplify]: Simplify 0 into 0 6.326 * [backup-simplify]: Simplify 1 into 1 6.326 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.326 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.326 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.326 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.326 * [backup-simplify]: Simplify -0.5 into -0.5 6.326 * [taylor]: Taking taylor expansion of phi1 in phi2 6.326 * [backup-simplify]: Simplify phi1 into phi1 6.326 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.326 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.326 * [backup-simplify]: Simplify -0.5 into -0.5 6.327 * [taylor]: Taking taylor expansion of phi1 in phi2 6.327 * [backup-simplify]: Simplify phi1 into phi1 6.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.327 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.327 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.328 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.328 * [backup-simplify]: Simplify (- 0) into 0 6.328 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.329 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.329 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.330 * [backup-simplify]: Simplify (- 0) into 0 6.330 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.331 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.332 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.332 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.333 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.333 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.333 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.334 * [backup-simplify]: Simplify (- 0) into 0 6.334 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.335 * [backup-simplify]: Simplify (- 0) into 0 6.335 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.335 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.335 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.335 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.336 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.337 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.339 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 6.341 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.343 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 6.344 * [backup-simplify]: Simplify (+ 0) into 0 6.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.344 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.345 * [backup-simplify]: Simplify (- 0) into 0 6.345 * [backup-simplify]: Simplify (+ 0 0) into 0 6.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.346 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.346 * [backup-simplify]: Simplify (+ 0) into 0 6.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.346 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.347 * [backup-simplify]: Simplify (+ 0 0) into 0 6.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.348 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.348 * [backup-simplify]: Simplify (+ 0 0) into 0 6.348 * [backup-simplify]: Simplify (+ 0) into 0 6.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.350 * [backup-simplify]: Simplify (- 0) into 0 6.350 * [backup-simplify]: Simplify (+ 0 0) into 0 6.350 * [backup-simplify]: Simplify (+ 0) into 0 6.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.352 * [backup-simplify]: Simplify (+ 0 0) into 0 6.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.353 * [backup-simplify]: Simplify (+ 0) into 0 6.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.353 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.354 * [backup-simplify]: Simplify (+ 0 0) into 0 6.354 * [backup-simplify]: Simplify (+ 0) into 0 6.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.356 * [backup-simplify]: Simplify (- 0) into 0 6.356 * [backup-simplify]: Simplify (+ 0 0) into 0 6.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.357 * [backup-simplify]: Simplify (+ 0 0) into 0 6.357 * [backup-simplify]: Simplify (- 0) into 0 6.357 * [backup-simplify]: Simplify (+ 0 0) into 0 6.358 * [backup-simplify]: Simplify (+ 0) into 0 6.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.358 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.359 * [backup-simplify]: Simplify (- 0) into 0 6.359 * [backup-simplify]: Simplify (+ 0 0) into 0 6.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.360 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.360 * [backup-simplify]: Simplify (+ 0) into 0 6.360 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.360 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.361 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.361 * [backup-simplify]: Simplify (+ 0 0) into 0 6.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.362 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.362 * [backup-simplify]: Simplify (+ 0 0) into 0 6.362 * [backup-simplify]: Simplify (+ 0) into 0 6.363 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.363 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.364 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.364 * [backup-simplify]: Simplify (+ 0 0) into 0 6.364 * [backup-simplify]: Simplify (+ 0) into 0 6.365 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.366 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.366 * [backup-simplify]: Simplify (- 0) into 0 6.366 * [backup-simplify]: Simplify (+ 0 0) into 0 6.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.366 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.367 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.367 * [backup-simplify]: Simplify (+ 0) into 0 6.367 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.367 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.368 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.368 * [backup-simplify]: Simplify (- 0) into 0 6.369 * [backup-simplify]: Simplify (+ 0 0) into 0 6.369 * [backup-simplify]: Simplify (+ 0) into 0 6.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.375 * [backup-simplify]: Simplify (+ 0 0) into 0 6.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.376 * [backup-simplify]: Simplify (+ 0 0) into 0 6.376 * [backup-simplify]: Simplify (- 0) into 0 6.376 * [backup-simplify]: Simplify (+ 0 0) into 0 6.378 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 6.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.385 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.385 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2))) in phi2 6.385 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.385 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.385 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.385 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.385 * [backup-simplify]: Simplify -0.5 into -0.5 6.385 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.385 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.385 * [taylor]: Taking taylor expansion of phi1 in phi2 6.385 * [backup-simplify]: Simplify phi1 into phi1 6.385 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.385 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.385 * [taylor]: Taking taylor expansion of phi2 in phi2 6.385 * [backup-simplify]: Simplify 0 into 0 6.385 * [backup-simplify]: Simplify 1 into 1 6.386 * [backup-simplify]: Simplify (/ 1 1) into 1 6.386 * [backup-simplify]: Simplify (+ 0 1) into 1 6.386 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.386 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.386 * [taylor]: Taking taylor expansion of (* lambda1 (pow phi1 2)) in phi2 6.386 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.386 * [backup-simplify]: Simplify lambda1 into lambda1 6.386 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 6.386 * [taylor]: Taking taylor expansion of phi1 in phi2 6.386 * [backup-simplify]: Simplify phi1 into phi1 6.387 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.387 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 6.387 * [backup-simplify]: Simplify (* lambda1 (pow phi1 2)) into (* lambda1 (pow phi1 2)) 6.387 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2))) 6.387 * [taylor]: Taking taylor expansion of (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3)))) in phi2 6.387 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2 6.387 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) in phi2 6.387 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.387 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.387 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.387 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.387 * [backup-simplify]: Simplify -0.5 into -0.5 6.387 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.387 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.387 * [taylor]: Taking taylor expansion of phi1 in phi2 6.387 * [backup-simplify]: Simplify phi1 into phi1 6.387 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.387 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.387 * [taylor]: Taking taylor expansion of phi2 in phi2 6.387 * [backup-simplify]: Simplify 0 into 0 6.387 * [backup-simplify]: Simplify 1 into 1 6.388 * [backup-simplify]: Simplify (/ 1 1) into 1 6.388 * [backup-simplify]: Simplify (+ 0 1) into 1 6.388 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.388 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.388 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda1) in phi2 6.388 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 6.388 * [taylor]: Taking taylor expansion of phi2 in phi2 6.388 * [backup-simplify]: Simplify 0 into 0 6.388 * [backup-simplify]: Simplify 1 into 1 6.388 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.388 * [backup-simplify]: Simplify lambda1 into lambda1 6.389 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.389 * [backup-simplify]: Simplify (* 1 1) into 1 6.389 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1 6.389 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 6.389 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2 6.389 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2 6.389 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2 6.389 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.389 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.389 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.389 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.389 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.389 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.389 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.389 * [backup-simplify]: Simplify -0.5 into -0.5 6.389 * [taylor]: Taking taylor expansion of phi2 in phi2 6.389 * [backup-simplify]: Simplify 0 into 0 6.389 * [backup-simplify]: Simplify 1 into 1 6.390 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.390 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.390 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.390 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.390 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.390 * [backup-simplify]: Simplify -0.5 into -0.5 6.390 * [taylor]: Taking taylor expansion of phi1 in phi2 6.390 * [backup-simplify]: Simplify phi1 into phi1 6.390 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.390 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.390 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.391 * [backup-simplify]: Simplify (- 0) into 0 6.391 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.391 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.391 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.391 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.391 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.391 * [backup-simplify]: Simplify -0.5 into -0.5 6.391 * [taylor]: Taking taylor expansion of phi2 in phi2 6.391 * [backup-simplify]: Simplify 0 into 0 6.391 * [backup-simplify]: Simplify 1 into 1 6.391 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.391 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.391 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.391 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.391 * [backup-simplify]: Simplify -0.5 into -0.5 6.391 * [taylor]: Taking taylor expansion of phi1 in phi2 6.391 * [backup-simplify]: Simplify phi1 into phi1 6.391 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.392 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.392 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.392 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.392 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.392 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.392 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.392 * [backup-simplify]: Simplify -0.5 into -0.5 6.392 * [taylor]: Taking taylor expansion of phi2 in phi2 6.392 * [backup-simplify]: Simplify 0 into 0 6.392 * [backup-simplify]: Simplify 1 into 1 6.392 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.392 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.392 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.392 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.392 * [backup-simplify]: Simplify -0.5 into -0.5 6.392 * [taylor]: Taking taylor expansion of phi2 in phi2 6.392 * [backup-simplify]: Simplify 0 into 0 6.392 * [backup-simplify]: Simplify 1 into 1 6.393 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.393 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.393 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.393 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.393 * [backup-simplify]: Simplify -0.5 into -0.5 6.393 * [taylor]: Taking taylor expansion of phi1 in phi2 6.393 * [backup-simplify]: Simplify phi1 into phi1 6.393 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.393 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.393 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.393 * [backup-simplify]: Simplify -0.5 into -0.5 6.393 * [taylor]: Taking taylor expansion of phi1 in phi2 6.393 * [backup-simplify]: Simplify phi1 into phi1 6.393 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.393 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.393 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.393 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.393 * [backup-simplify]: Simplify -0.5 into -0.5 6.393 * [taylor]: Taking taylor expansion of phi2 in phi2 6.393 * [backup-simplify]: Simplify 0 into 0 6.393 * [backup-simplify]: Simplify 1 into 1 6.394 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.394 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.394 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.394 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.394 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.394 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.394 * [backup-simplify]: Simplify -0.5 into -0.5 6.394 * [taylor]: Taking taylor expansion of phi2 in phi2 6.394 * [backup-simplify]: Simplify 0 into 0 6.394 * [backup-simplify]: Simplify 1 into 1 6.394 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.394 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.394 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.394 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.394 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.394 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.394 * [backup-simplify]: Simplify -0.5 into -0.5 6.394 * [taylor]: Taking taylor expansion of phi1 in phi2 6.394 * [backup-simplify]: Simplify phi1 into phi1 6.394 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.394 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.394 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.394 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.394 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.394 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.394 * [backup-simplify]: Simplify -0.5 into -0.5 6.394 * [taylor]: Taking taylor expansion of phi1 in phi2 6.394 * [backup-simplify]: Simplify phi1 into phi1 6.394 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.395 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.395 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 6.395 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.395 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.395 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.395 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.395 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.395 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.395 * [backup-simplify]: Simplify -0.5 into -0.5 6.395 * [taylor]: Taking taylor expansion of phi2 in phi2 6.395 * [backup-simplify]: Simplify 0 into 0 6.395 * [backup-simplify]: Simplify 1 into 1 6.395 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.395 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.395 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.395 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.395 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.395 * [backup-simplify]: Simplify -0.5 into -0.5 6.395 * [taylor]: Taking taylor expansion of phi1 in phi2 6.395 * [backup-simplify]: Simplify phi1 into phi1 6.395 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.395 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.395 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.395 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.396 * [backup-simplify]: Simplify (- 0) into 0 6.396 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.396 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.396 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.396 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.396 * [backup-simplify]: Simplify -0.5 into -0.5 6.396 * [taylor]: Taking taylor expansion of phi2 in phi2 6.396 * [backup-simplify]: Simplify 0 into 0 6.396 * [backup-simplify]: Simplify 1 into 1 6.396 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.396 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.396 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.396 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.396 * [backup-simplify]: Simplify -0.5 into -0.5 6.396 * [taylor]: Taking taylor expansion of phi1 in phi2 6.397 * [backup-simplify]: Simplify phi1 into phi1 6.397 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.397 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.397 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.397 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 6.397 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.397 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.397 * [backup-simplify]: Simplify -0.5 into -0.5 6.397 * [taylor]: Taking taylor expansion of phi2 in phi2 6.397 * [backup-simplify]: Simplify 0 into 0 6.397 * [backup-simplify]: Simplify 1 into 1 6.398 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.398 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.398 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.398 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.398 * [backup-simplify]: Simplify -0.5 into -0.5 6.398 * [taylor]: Taking taylor expansion of phi2 in phi2 6.398 * [backup-simplify]: Simplify 0 into 0 6.398 * [backup-simplify]: Simplify 1 into 1 6.398 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.398 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.398 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.398 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.398 * [backup-simplify]: Simplify -0.5 into -0.5 6.398 * [taylor]: Taking taylor expansion of phi1 in phi2 6.398 * [backup-simplify]: Simplify phi1 into phi1 6.398 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.399 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.399 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.399 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.399 * [backup-simplify]: Simplify -0.5 into -0.5 6.399 * [taylor]: Taking taylor expansion of phi1 in phi2 6.399 * [backup-simplify]: Simplify phi1 into phi1 6.399 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.399 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.399 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.399 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.399 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.399 * [backup-simplify]: Simplify -0.5 into -0.5 6.399 * [taylor]: Taking taylor expansion of phi2 in phi2 6.399 * [backup-simplify]: Simplify 0 into 0 6.399 * [backup-simplify]: Simplify 1 into 1 6.399 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.399 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.399 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.399 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.399 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.399 * [backup-simplify]: Simplify -0.5 into -0.5 6.399 * [taylor]: Taking taylor expansion of phi2 in phi2 6.399 * [backup-simplify]: Simplify 0 into 0 6.399 * [backup-simplify]: Simplify 1 into 1 6.400 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.400 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.400 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.400 * [backup-simplify]: Simplify -0.5 into -0.5 6.400 * [taylor]: Taking taylor expansion of phi1 in phi2 6.400 * [backup-simplify]: Simplify phi1 into phi1 6.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.400 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.400 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.400 * [backup-simplify]: Simplify -0.5 into -0.5 6.400 * [taylor]: Taking taylor expansion of phi1 in phi2 6.400 * [backup-simplify]: Simplify phi1 into phi1 6.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.400 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.400 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.401 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.401 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.402 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.402 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.402 * [backup-simplify]: Simplify (- 0) into 0 6.402 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.403 * [backup-simplify]: Simplify (- 0) into 0 6.403 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.403 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.404 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.404 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.406 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.406 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.406 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.407 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.407 * [backup-simplify]: Simplify (- 0) into 0 6.407 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.408 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.408 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.409 * [backup-simplify]: Simplify (- 0) into 0 6.409 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.410 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.411 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.413 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 6.415 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.417 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 6.417 * [backup-simplify]: Simplify (+ 0) into 0 6.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.418 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.419 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.419 * [backup-simplify]: Simplify (- 0) into 0 6.419 * [backup-simplify]: Simplify (+ 0 0) into 0 6.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.420 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.420 * [backup-simplify]: Simplify (+ 0) into 0 6.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.420 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.421 * [backup-simplify]: Simplify (+ 0 0) into 0 6.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.422 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.422 * [backup-simplify]: Simplify (+ 0 0) into 0 6.422 * [backup-simplify]: Simplify (+ 0) into 0 6.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.423 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.424 * [backup-simplify]: Simplify (+ 0 0) into 0 6.424 * [backup-simplify]: Simplify (+ 0) into 0 6.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.424 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.425 * [backup-simplify]: Simplify (- 0) into 0 6.426 * [backup-simplify]: Simplify (+ 0 0) into 0 6.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.427 * [backup-simplify]: Simplify (+ 0) into 0 6.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.428 * [backup-simplify]: Simplify (- 0) into 0 6.428 * [backup-simplify]: Simplify (+ 0 0) into 0 6.428 * [backup-simplify]: Simplify (+ 0) into 0 6.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.429 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.430 * [backup-simplify]: Simplify (+ 0 0) into 0 6.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.431 * [backup-simplify]: Simplify (+ 0 0) into 0 6.431 * [backup-simplify]: Simplify (- 0) into 0 6.431 * [backup-simplify]: Simplify (+ 0 0) into 0 6.431 * [backup-simplify]: Simplify (+ 0) into 0 6.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.432 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.433 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.433 * [backup-simplify]: Simplify (- 0) into 0 6.433 * [backup-simplify]: Simplify (+ 0 0) into 0 6.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.433 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.434 * [backup-simplify]: Simplify (+ 0) into 0 6.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.434 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.435 * [backup-simplify]: Simplify (+ 0 0) into 0 6.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.436 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.436 * [backup-simplify]: Simplify (+ 0 0) into 0 6.436 * [backup-simplify]: Simplify (+ 0) into 0 6.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.437 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.438 * [backup-simplify]: Simplify (- 0) into 0 6.438 * [backup-simplify]: Simplify (+ 0 0) into 0 6.438 * [backup-simplify]: Simplify (+ 0) into 0 6.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.439 * [backup-simplify]: Simplify (+ 0 0) into 0 6.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.440 * [backup-simplify]: Simplify (+ 0) into 0 6.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.442 * [backup-simplify]: Simplify (+ 0 0) into 0 6.442 * [backup-simplify]: Simplify (+ 0) into 0 6.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.443 * [backup-simplify]: Simplify (- 0) into 0 6.444 * [backup-simplify]: Simplify (+ 0 0) into 0 6.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.444 * [backup-simplify]: Simplify (+ 0 0) into 0 6.445 * [backup-simplify]: Simplify (- 0) into 0 6.445 * [backup-simplify]: Simplify (+ 0 0) into 0 6.447 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 6.451 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.453 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.454 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))) in phi2 6.454 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2 6.454 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2 6.454 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 6.454 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 6.454 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.454 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.454 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.454 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.454 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.454 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.454 * [backup-simplify]: Simplify -0.5 into -0.5 6.454 * [taylor]: Taking taylor expansion of phi2 in phi2 6.454 * [backup-simplify]: Simplify 0 into 0 6.454 * [backup-simplify]: Simplify 1 into 1 6.454 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.454 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.455 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.455 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.455 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.455 * [backup-simplify]: Simplify -0.5 into -0.5 6.455 * [taylor]: Taking taylor expansion of phi1 in phi2 6.455 * [backup-simplify]: Simplify phi1 into phi1 6.455 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.455 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.455 * [backup-simplify]: Simplify (- 0) into 0 6.455 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.455 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.455 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.455 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.455 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.455 * [backup-simplify]: Simplify -0.5 into -0.5 6.455 * [taylor]: Taking taylor expansion of phi2 in phi2 6.455 * [backup-simplify]: Simplify 0 into 0 6.455 * [backup-simplify]: Simplify 1 into 1 6.456 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.456 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.456 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.456 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.456 * [backup-simplify]: Simplify -0.5 into -0.5 6.456 * [taylor]: Taking taylor expansion of phi1 in phi2 6.456 * [backup-simplify]: Simplify phi1 into phi1 6.456 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.456 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.456 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.456 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.456 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 6.456 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.456 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.456 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.456 * [backup-simplify]: Simplify -0.5 into -0.5 6.456 * [taylor]: Taking taylor expansion of phi2 in phi2 6.456 * [backup-simplify]: Simplify 0 into 0 6.456 * [backup-simplify]: Simplify 1 into 1 6.457 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.457 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.457 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.457 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.457 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.457 * [backup-simplify]: Simplify -0.5 into -0.5 6.457 * [taylor]: Taking taylor expansion of phi2 in phi2 6.457 * [backup-simplify]: Simplify 0 into 0 6.457 * [backup-simplify]: Simplify 1 into 1 6.457 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.457 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.457 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.457 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.457 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.457 * [backup-simplify]: Simplify -0.5 into -0.5 6.457 * [taylor]: Taking taylor expansion of phi1 in phi2 6.457 * [backup-simplify]: Simplify phi1 into phi1 6.457 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.457 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.457 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.457 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.457 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.458 * [backup-simplify]: Simplify -0.5 into -0.5 6.458 * [taylor]: Taking taylor expansion of phi1 in phi2 6.458 * [backup-simplify]: Simplify phi1 into phi1 6.458 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.458 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.458 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.458 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.458 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.458 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.458 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.458 * [backup-simplify]: Simplify -0.5 into -0.5 6.458 * [taylor]: Taking taylor expansion of phi2 in phi2 6.458 * [backup-simplify]: Simplify 0 into 0 6.458 * [backup-simplify]: Simplify 1 into 1 6.458 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.458 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.458 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.458 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.458 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.458 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.458 * [backup-simplify]: Simplify -0.5 into -0.5 6.458 * [taylor]: Taking taylor expansion of phi2 in phi2 6.458 * [backup-simplify]: Simplify 0 into 0 6.458 * [backup-simplify]: Simplify 1 into 1 6.459 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.459 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.459 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.459 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.459 * [backup-simplify]: Simplify -0.5 into -0.5 6.459 * [taylor]: Taking taylor expansion of phi1 in phi2 6.459 * [backup-simplify]: Simplify phi1 into phi1 6.459 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.459 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.459 * [backup-simplify]: Simplify -0.5 into -0.5 6.459 * [taylor]: Taking taylor expansion of phi1 in phi2 6.459 * [backup-simplify]: Simplify phi1 into phi1 6.459 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.459 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.459 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.459 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.459 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.459 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.459 * [backup-simplify]: Simplify -0.5 into -0.5 6.459 * [taylor]: Taking taylor expansion of phi2 in phi2 6.459 * [backup-simplify]: Simplify 0 into 0 6.459 * [backup-simplify]: Simplify 1 into 1 6.460 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.460 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.460 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.460 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.460 * [backup-simplify]: Simplify -0.5 into -0.5 6.460 * [taylor]: Taking taylor expansion of phi1 in phi2 6.460 * [backup-simplify]: Simplify phi1 into phi1 6.460 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.460 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.460 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.460 * [backup-simplify]: Simplify (- 0) into 0 6.460 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.460 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.460 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.461 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.461 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.461 * [backup-simplify]: Simplify -0.5 into -0.5 6.461 * [taylor]: Taking taylor expansion of phi2 in phi2 6.461 * [backup-simplify]: Simplify 0 into 0 6.461 * [backup-simplify]: Simplify 1 into 1 6.461 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.461 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.461 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.461 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.461 * [backup-simplify]: Simplify -0.5 into -0.5 6.461 * [taylor]: Taking taylor expansion of phi1 in phi2 6.461 * [backup-simplify]: Simplify phi1 into phi1 6.461 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.461 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.461 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.461 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.461 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.461 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.461 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.461 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.462 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.462 * [backup-simplify]: Simplify -0.5 into -0.5 6.462 * [taylor]: Taking taylor expansion of phi2 in phi2 6.462 * [backup-simplify]: Simplify 0 into 0 6.462 * [backup-simplify]: Simplify 1 into 1 6.462 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.462 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.462 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.462 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.462 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.462 * [backup-simplify]: Simplify -0.5 into -0.5 6.462 * [taylor]: Taking taylor expansion of phi2 in phi2 6.462 * [backup-simplify]: Simplify 0 into 0 6.462 * [backup-simplify]: Simplify 1 into 1 6.462 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.462 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.462 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.462 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.463 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.463 * [backup-simplify]: Simplify -0.5 into -0.5 6.463 * [taylor]: Taking taylor expansion of phi1 in phi2 6.463 * [backup-simplify]: Simplify phi1 into phi1 6.463 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.463 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.463 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.463 * [backup-simplify]: Simplify -0.5 into -0.5 6.463 * [taylor]: Taking taylor expansion of phi1 in phi2 6.463 * [backup-simplify]: Simplify phi1 into phi1 6.463 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.463 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.463 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.463 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.463 * [backup-simplify]: Simplify -0.5 into -0.5 6.463 * [taylor]: Taking taylor expansion of phi2 in phi2 6.463 * [backup-simplify]: Simplify 0 into 0 6.463 * [backup-simplify]: Simplify 1 into 1 6.463 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.463 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.463 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.463 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.464 * [backup-simplify]: Simplify -0.5 into -0.5 6.464 * [taylor]: Taking taylor expansion of phi2 in phi2 6.464 * [backup-simplify]: Simplify 0 into 0 6.464 * [backup-simplify]: Simplify 1 into 1 6.464 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.464 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.464 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.464 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.464 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.464 * [backup-simplify]: Simplify -0.5 into -0.5 6.464 * [taylor]: Taking taylor expansion of phi1 in phi2 6.464 * [backup-simplify]: Simplify phi1 into phi1 6.464 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.464 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.464 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.464 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.464 * [backup-simplify]: Simplify -0.5 into -0.5 6.464 * [taylor]: Taking taylor expansion of phi1 in phi2 6.464 * [backup-simplify]: Simplify phi1 into phi1 6.464 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.465 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.465 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.466 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.466 * [backup-simplify]: Simplify (- 0) into 0 6.466 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.467 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.467 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.467 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.468 * [backup-simplify]: Simplify (- 0) into 0 6.468 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.469 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.470 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.471 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.471 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.472 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.472 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.472 * [backup-simplify]: Simplify (- 0) into 0 6.472 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.473 * [backup-simplify]: Simplify (- 0) into 0 6.473 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.474 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.475 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.476 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.478 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 6.481 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.487 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 6.488 * [backup-simplify]: Simplify (+ 0) into 0 6.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.490 * [backup-simplify]: Simplify (- 0) into 0 6.490 * [backup-simplify]: Simplify (+ 0 0) into 0 6.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.490 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.491 * [backup-simplify]: Simplify (+ 0) into 0 6.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.492 * [backup-simplify]: Simplify (+ 0 0) into 0 6.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.493 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.493 * [backup-simplify]: Simplify (+ 0 0) into 0 6.493 * [backup-simplify]: Simplify (+ 0) into 0 6.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.494 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.495 * [backup-simplify]: Simplify (- 0) into 0 6.495 * [backup-simplify]: Simplify (+ 0 0) into 0 6.495 * [backup-simplify]: Simplify (+ 0) into 0 6.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.496 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.497 * [backup-simplify]: Simplify (+ 0 0) into 0 6.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.497 * [backup-simplify]: Simplify (+ 0) into 0 6.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.499 * [backup-simplify]: Simplify (+ 0 0) into 0 6.499 * [backup-simplify]: Simplify (+ 0) into 0 6.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.500 * [backup-simplify]: Simplify (- 0) into 0 6.501 * [backup-simplify]: Simplify (+ 0 0) into 0 6.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.501 * [backup-simplify]: Simplify (+ 0 0) into 0 6.502 * [backup-simplify]: Simplify (- 0) into 0 6.502 * [backup-simplify]: Simplify (+ 0 0) into 0 6.502 * [backup-simplify]: Simplify (+ 0) into 0 6.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.503 * [backup-simplify]: Simplify (- 0) into 0 6.504 * [backup-simplify]: Simplify (+ 0 0) into 0 6.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.504 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.504 * [backup-simplify]: Simplify (+ 0) into 0 6.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.505 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.506 * [backup-simplify]: Simplify (+ 0 0) into 0 6.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.506 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.507 * [backup-simplify]: Simplify (+ 0 0) into 0 6.507 * [backup-simplify]: Simplify (+ 0) into 0 6.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.508 * [backup-simplify]: Simplify (+ 0 0) into 0 6.509 * [backup-simplify]: Simplify (+ 0) into 0 6.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.510 * [backup-simplify]: Simplify (- 0) into 0 6.510 * [backup-simplify]: Simplify (+ 0 0) into 0 6.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.511 * [backup-simplify]: Simplify (+ 0) into 0 6.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.513 * [backup-simplify]: Simplify (- 0) into 0 6.513 * [backup-simplify]: Simplify (+ 0 0) into 0 6.513 * [backup-simplify]: Simplify (+ 0) into 0 6.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.514 * [backup-simplify]: Simplify (+ 0 0) into 0 6.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.515 * [backup-simplify]: Simplify (+ 0 0) into 0 6.515 * [backup-simplify]: Simplify (- 0) into 0 6.516 * [backup-simplify]: Simplify (+ 0 0) into 0 6.518 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 6.522 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.524 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.524 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3)) in phi2 6.524 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2 6.524 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.524 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.524 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.524 * [backup-simplify]: Simplify -0.5 into -0.5 6.524 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.524 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.524 * [taylor]: Taking taylor expansion of phi1 in phi2 6.524 * [backup-simplify]: Simplify phi1 into phi1 6.524 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.524 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.524 * [taylor]: Taking taylor expansion of phi2 in phi2 6.524 * [backup-simplify]: Simplify 0 into 0 6.524 * [backup-simplify]: Simplify 1 into 1 6.525 * [backup-simplify]: Simplify (/ 1 1) into 1 6.525 * [backup-simplify]: Simplify (+ 0 1) into 1 6.525 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.525 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.525 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2 6.525 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.525 * [backup-simplify]: Simplify lambda1 into lambda1 6.526 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.526 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) 6.526 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.526 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 6.526 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3)) 6.526 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) in phi2 6.526 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) in phi2 6.526 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2 6.527 * [taylor]: Taking taylor expansion of (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2 6.527 * [taylor]: Taking taylor expansion of (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 6.527 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in phi2 6.527 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 6.527 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.527 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.527 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.527 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.527 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.527 * [backup-simplify]: Simplify -0.5 into -0.5 6.527 * [taylor]: Taking taylor expansion of phi2 in phi2 6.527 * [backup-simplify]: Simplify 0 into 0 6.527 * [backup-simplify]: Simplify 1 into 1 6.527 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.527 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.528 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.528 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.528 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.528 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.528 * [backup-simplify]: Simplify -0.5 into -0.5 6.528 * [taylor]: Taking taylor expansion of phi1 in phi2 6.528 * [backup-simplify]: Simplify phi1 into phi1 6.528 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.528 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.528 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.528 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.528 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.528 * [backup-simplify]: Simplify (- 0) into 0 6.528 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.528 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.528 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.528 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.528 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.528 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.528 * [backup-simplify]: Simplify -0.5 into -0.5 6.528 * [taylor]: Taking taylor expansion of phi2 in phi2 6.528 * [backup-simplify]: Simplify 0 into 0 6.528 * [backup-simplify]: Simplify 1 into 1 6.529 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.529 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.529 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.529 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.529 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.529 * [backup-simplify]: Simplify -0.5 into -0.5 6.529 * [taylor]: Taking taylor expansion of phi1 in phi2 6.529 * [backup-simplify]: Simplify phi1 into phi1 6.529 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.529 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.529 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.529 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.529 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.529 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.529 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 6.529 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.529 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.529 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.529 * [backup-simplify]: Simplify -0.5 into -0.5 6.529 * [taylor]: Taking taylor expansion of phi2 in phi2 6.529 * [backup-simplify]: Simplify 0 into 0 6.529 * [backup-simplify]: Simplify 1 into 1 6.530 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.530 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.530 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.530 * [backup-simplify]: Simplify -0.5 into -0.5 6.530 * [taylor]: Taking taylor expansion of phi2 in phi2 6.530 * [backup-simplify]: Simplify 0 into 0 6.530 * [backup-simplify]: Simplify 1 into 1 6.530 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.530 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.530 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.530 * [backup-simplify]: Simplify -0.5 into -0.5 6.530 * [taylor]: Taking taylor expansion of phi1 in phi2 6.530 * [backup-simplify]: Simplify phi1 into phi1 6.530 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.531 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.531 * [backup-simplify]: Simplify -0.5 into -0.5 6.531 * [taylor]: Taking taylor expansion of phi1 in phi2 6.531 * [backup-simplify]: Simplify phi1 into phi1 6.531 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.531 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.531 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.531 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.531 * [backup-simplify]: Simplify -0.5 into -0.5 6.531 * [taylor]: Taking taylor expansion of phi2 in phi2 6.531 * [backup-simplify]: Simplify 0 into 0 6.531 * [backup-simplify]: Simplify 1 into 1 6.531 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.531 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.531 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.531 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.531 * [backup-simplify]: Simplify -0.5 into -0.5 6.531 * [taylor]: Taking taylor expansion of phi2 in phi2 6.531 * [backup-simplify]: Simplify 0 into 0 6.531 * [backup-simplify]: Simplify 1 into 1 6.532 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.532 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.532 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.532 * [backup-simplify]: Simplify -0.5 into -0.5 6.532 * [taylor]: Taking taylor expansion of phi1 in phi2 6.532 * [backup-simplify]: Simplify phi1 into phi1 6.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.532 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.532 * [backup-simplify]: Simplify -0.5 into -0.5 6.532 * [taylor]: Taking taylor expansion of phi1 in phi2 6.532 * [backup-simplify]: Simplify phi1 into phi1 6.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.533 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.533 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.533 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.533 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.533 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.534 * [backup-simplify]: Simplify (- 0) into 0 6.534 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.534 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.535 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.535 * [backup-simplify]: Simplify (- 0) into 0 6.535 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.536 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.538 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.538 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.538 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.538 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.538 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.538 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.538 * [backup-simplify]: Simplify -0.5 into -0.5 6.538 * [taylor]: Taking taylor expansion of phi2 in phi2 6.538 * [backup-simplify]: Simplify 0 into 0 6.538 * [backup-simplify]: Simplify 1 into 1 6.538 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.538 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.538 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.538 * [backup-simplify]: Simplify -0.5 into -0.5 6.538 * [taylor]: Taking taylor expansion of phi1 in phi2 6.538 * [backup-simplify]: Simplify phi1 into phi1 6.538 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.539 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.539 * [backup-simplify]: Simplify (- 0) into 0 6.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.539 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.539 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.539 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.539 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.539 * [backup-simplify]: Simplify -0.5 into -0.5 6.539 * [taylor]: Taking taylor expansion of phi2 in phi2 6.539 * [backup-simplify]: Simplify 0 into 0 6.539 * [backup-simplify]: Simplify 1 into 1 6.539 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.540 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.540 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.540 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.540 * [backup-simplify]: Simplify -0.5 into -0.5 6.540 * [taylor]: Taking taylor expansion of phi1 in phi2 6.540 * [backup-simplify]: Simplify phi1 into phi1 6.540 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.540 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.540 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.540 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.540 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.540 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.540 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.540 * [backup-simplify]: Simplify -0.5 into -0.5 6.540 * [taylor]: Taking taylor expansion of phi2 in phi2 6.540 * [backup-simplify]: Simplify 0 into 0 6.540 * [backup-simplify]: Simplify 1 into 1 6.540 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.540 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.541 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.541 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.541 * [backup-simplify]: Simplify -0.5 into -0.5 6.541 * [taylor]: Taking taylor expansion of phi2 in phi2 6.541 * [backup-simplify]: Simplify 0 into 0 6.541 * [backup-simplify]: Simplify 1 into 1 6.541 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.541 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.541 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.541 * [backup-simplify]: Simplify -0.5 into -0.5 6.541 * [taylor]: Taking taylor expansion of phi1 in phi2 6.541 * [backup-simplify]: Simplify phi1 into phi1 6.541 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.541 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.541 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.541 * [backup-simplify]: Simplify -0.5 into -0.5 6.541 * [taylor]: Taking taylor expansion of phi1 in phi2 6.541 * [backup-simplify]: Simplify phi1 into phi1 6.541 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.542 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.542 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.542 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.542 * [backup-simplify]: Simplify -0.5 into -0.5 6.542 * [taylor]: Taking taylor expansion of phi2 in phi2 6.542 * [backup-simplify]: Simplify 0 into 0 6.542 * [backup-simplify]: Simplify 1 into 1 6.542 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.542 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.542 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.542 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.542 * [backup-simplify]: Simplify -0.5 into -0.5 6.542 * [taylor]: Taking taylor expansion of phi2 in phi2 6.542 * [backup-simplify]: Simplify 0 into 0 6.542 * [backup-simplify]: Simplify 1 into 1 6.542 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.542 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.543 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.543 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.543 * [backup-simplify]: Simplify -0.5 into -0.5 6.543 * [taylor]: Taking taylor expansion of phi1 in phi2 6.543 * [backup-simplify]: Simplify phi1 into phi1 6.543 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.543 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.543 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.543 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.543 * [backup-simplify]: Simplify -0.5 into -0.5 6.543 * [taylor]: Taking taylor expansion of phi1 in phi2 6.543 * [backup-simplify]: Simplify phi1 into phi1 6.543 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.543 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.545 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 6.547 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 6.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.547 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.548 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.548 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.548 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.549 * [backup-simplify]: Simplify (- 0) into 0 6.549 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.550 * [backup-simplify]: Simplify (- 0) into 0 6.550 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.550 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.551 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.552 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.556 * [backup-simplify]: Simplify (* (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.559 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) 6.562 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.563 * [backup-simplify]: Simplify (+ 0) into 0 6.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.563 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.564 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.564 * [backup-simplify]: Simplify (- 0) into 0 6.565 * [backup-simplify]: Simplify (+ 0 0) into 0 6.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.565 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.565 * [backup-simplify]: Simplify (+ 0) into 0 6.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.566 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.567 * [backup-simplify]: Simplify (+ 0 0) into 0 6.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.568 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.568 * [backup-simplify]: Simplify (+ 0 0) into 0 6.568 * [backup-simplify]: Simplify (+ 0) into 0 6.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.570 * [backup-simplify]: Simplify (- 0) into 0 6.570 * [backup-simplify]: Simplify (+ 0 0) into 0 6.570 * [backup-simplify]: Simplify (+ 0) into 0 6.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.572 * [backup-simplify]: Simplify (+ 0 0) into 0 6.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.572 * [backup-simplify]: Simplify (+ 0) into 0 6.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.573 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.574 * [backup-simplify]: Simplify (+ 0 0) into 0 6.574 * [backup-simplify]: Simplify (+ 0) into 0 6.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.576 * [backup-simplify]: Simplify (- 0) into 0 6.576 * [backup-simplify]: Simplify (+ 0 0) into 0 6.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.576 * [backup-simplify]: Simplify (+ 0 0) into 0 6.577 * [backup-simplify]: Simplify (- 0) into 0 6.577 * [backup-simplify]: Simplify (+ 0 0) into 0 6.577 * [backup-simplify]: Simplify (+ 0) into 0 6.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.579 * [backup-simplify]: Simplify (- 0) into 0 6.579 * [backup-simplify]: Simplify (+ 0 0) into 0 6.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.580 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.580 * [backup-simplify]: Simplify (+ 0) into 0 6.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.580 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.581 * [backup-simplify]: Simplify (+ 0 0) into 0 6.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.582 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.582 * [backup-simplify]: Simplify (+ 0 0) into 0 6.582 * [backup-simplify]: Simplify (+ 0) into 0 6.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.584 * [backup-simplify]: Simplify (+ 0 0) into 0 6.584 * [backup-simplify]: Simplify (+ 0) into 0 6.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.584 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.585 * [backup-simplify]: Simplify (- 0) into 0 6.586 * [backup-simplify]: Simplify (+ 0 0) into 0 6.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.591 * [backup-simplify]: Simplify (+ 0) into 0 6.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.592 * [backup-simplify]: Simplify (- 0) into 0 6.593 * [backup-simplify]: Simplify (+ 0 0) into 0 6.593 * [backup-simplify]: Simplify (+ 0) into 0 6.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.593 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.594 * [backup-simplify]: Simplify (+ 0 0) into 0 6.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.595 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.595 * [backup-simplify]: Simplify (+ 0 0) into 0 6.595 * [backup-simplify]: Simplify (- 0) into 0 6.595 * [backup-simplify]: Simplify (+ 0 0) into 0 6.597 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 6.600 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 6.603 * [backup-simplify]: Simplify (+ (* (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 6.609 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 6.613 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))))) into 0 6.613 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3)) in phi2 6.613 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) in phi2 6.613 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.613 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.613 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.613 * [backup-simplify]: Simplify -0.5 into -0.5 6.613 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.613 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.613 * [taylor]: Taking taylor expansion of phi1 in phi2 6.613 * [backup-simplify]: Simplify phi1 into phi1 6.613 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.613 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.613 * [taylor]: Taking taylor expansion of phi2 in phi2 6.613 * [backup-simplify]: Simplify 0 into 0 6.613 * [backup-simplify]: Simplify 1 into 1 6.614 * [backup-simplify]: Simplify (/ 1 1) into 1 6.614 * [backup-simplify]: Simplify (+ 0 1) into 1 6.614 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.614 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.614 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2 6.614 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.614 * [backup-simplify]: Simplify lambda1 into lambda1 6.615 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.615 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) 6.615 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) 6.615 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 6.615 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 6.615 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3)) 6.616 * [taylor]: Taking taylor expansion of (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) in phi2 6.616 * [taylor]: Taking taylor expansion of 2 in phi2 6.616 * [backup-simplify]: Simplify 2 into 2 6.616 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2 6.616 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) in phi2 6.616 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.616 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.616 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.616 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.616 * [backup-simplify]: Simplify -0.5 into -0.5 6.616 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.616 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.616 * [taylor]: Taking taylor expansion of phi1 in phi2 6.616 * [backup-simplify]: Simplify phi1 into phi1 6.616 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.616 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.616 * [taylor]: Taking taylor expansion of phi2 in phi2 6.616 * [backup-simplify]: Simplify 0 into 0 6.616 * [backup-simplify]: Simplify 1 into 1 6.616 * [backup-simplify]: Simplify (/ 1 1) into 1 6.617 * [backup-simplify]: Simplify (+ 0 1) into 1 6.617 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.617 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.617 * [taylor]: Taking taylor expansion of (* phi2 (* lambda1 phi1)) in phi2 6.617 * [taylor]: Taking taylor expansion of phi2 in phi2 6.617 * [backup-simplify]: Simplify 0 into 0 6.617 * [backup-simplify]: Simplify 1 into 1 6.617 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi2 6.617 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.617 * [backup-simplify]: Simplify lambda1 into lambda1 6.617 * [taylor]: Taking taylor expansion of phi1 in phi2 6.617 * [backup-simplify]: Simplify phi1 into phi1 6.617 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.617 * [backup-simplify]: Simplify (* lambda1 phi1) into (* lambda1 phi1) 6.617 * [backup-simplify]: Simplify (* 0 (* lambda1 phi1)) into 0 6.617 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 phi1)) into 0 6.618 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 phi1))) into (* lambda1 phi1) 6.618 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) 6.618 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2 6.618 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2 6.618 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2 6.618 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.618 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.618 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.618 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.618 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.618 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.618 * [backup-simplify]: Simplify -0.5 into -0.5 6.618 * [taylor]: Taking taylor expansion of phi2 in phi2 6.618 * [backup-simplify]: Simplify 0 into 0 6.618 * [backup-simplify]: Simplify 1 into 1 6.619 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.619 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.619 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.619 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.619 * [backup-simplify]: Simplify -0.5 into -0.5 6.619 * [taylor]: Taking taylor expansion of phi1 in phi2 6.619 * [backup-simplify]: Simplify phi1 into phi1 6.619 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.619 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.619 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.619 * [backup-simplify]: Simplify (- 0) into 0 6.619 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.619 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.619 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.619 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.620 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.620 * [backup-simplify]: Simplify -0.5 into -0.5 6.620 * [taylor]: Taking taylor expansion of phi2 in phi2 6.620 * [backup-simplify]: Simplify 0 into 0 6.620 * [backup-simplify]: Simplify 1 into 1 6.620 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.620 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.620 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.620 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.620 * [backup-simplify]: Simplify -0.5 into -0.5 6.620 * [taylor]: Taking taylor expansion of phi1 in phi2 6.620 * [backup-simplify]: Simplify phi1 into phi1 6.620 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.620 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.620 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.620 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.620 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.620 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.620 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.620 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.620 * [backup-simplify]: Simplify -0.5 into -0.5 6.621 * [taylor]: Taking taylor expansion of phi2 in phi2 6.621 * [backup-simplify]: Simplify 0 into 0 6.621 * [backup-simplify]: Simplify 1 into 1 6.621 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.621 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.621 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.621 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.621 * [backup-simplify]: Simplify -0.5 into -0.5 6.621 * [taylor]: Taking taylor expansion of phi2 in phi2 6.621 * [backup-simplify]: Simplify 0 into 0 6.621 * [backup-simplify]: Simplify 1 into 1 6.621 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.621 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.621 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.621 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.621 * [backup-simplify]: Simplify -0.5 into -0.5 6.621 * [taylor]: Taking taylor expansion of phi1 in phi2 6.622 * [backup-simplify]: Simplify phi1 into phi1 6.622 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.622 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.622 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.622 * [backup-simplify]: Simplify -0.5 into -0.5 6.622 * [taylor]: Taking taylor expansion of phi1 in phi2 6.622 * [backup-simplify]: Simplify phi1 into phi1 6.622 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.622 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.622 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.622 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.622 * [backup-simplify]: Simplify -0.5 into -0.5 6.622 * [taylor]: Taking taylor expansion of phi2 in phi2 6.622 * [backup-simplify]: Simplify 0 into 0 6.622 * [backup-simplify]: Simplify 1 into 1 6.622 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.622 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.622 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.622 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.623 * [backup-simplify]: Simplify -0.5 into -0.5 6.623 * [taylor]: Taking taylor expansion of phi2 in phi2 6.623 * [backup-simplify]: Simplify 0 into 0 6.623 * [backup-simplify]: Simplify 1 into 1 6.623 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.623 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.623 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.623 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.623 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.623 * [backup-simplify]: Simplify -0.5 into -0.5 6.623 * [taylor]: Taking taylor expansion of phi1 in phi2 6.623 * [backup-simplify]: Simplify phi1 into phi1 6.623 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.623 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.623 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.623 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.623 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.623 * [backup-simplify]: Simplify -0.5 into -0.5 6.623 * [taylor]: Taking taylor expansion of phi1 in phi2 6.623 * [backup-simplify]: Simplify phi1 into phi1 6.623 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.623 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.623 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 6.623 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.623 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.623 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.624 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.624 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.624 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.624 * [backup-simplify]: Simplify -0.5 into -0.5 6.624 * [taylor]: Taking taylor expansion of phi2 in phi2 6.624 * [backup-simplify]: Simplify 0 into 0 6.624 * [backup-simplify]: Simplify 1 into 1 6.624 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.624 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.624 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.624 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.624 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.624 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.624 * [backup-simplify]: Simplify -0.5 into -0.5 6.624 * [taylor]: Taking taylor expansion of phi1 in phi2 6.624 * [backup-simplify]: Simplify phi1 into phi1 6.624 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.624 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.624 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.624 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.624 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.625 * [backup-simplify]: Simplify (- 0) into 0 6.625 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.625 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.625 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.625 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.625 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.625 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.625 * [backup-simplify]: Simplify -0.5 into -0.5 6.625 * [taylor]: Taking taylor expansion of phi2 in phi2 6.625 * [backup-simplify]: Simplify 0 into 0 6.625 * [backup-simplify]: Simplify 1 into 1 6.625 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.625 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.625 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.625 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.625 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.625 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.625 * [backup-simplify]: Simplify -0.5 into -0.5 6.625 * [taylor]: Taking taylor expansion of phi1 in phi2 6.625 * [backup-simplify]: Simplify phi1 into phi1 6.625 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.625 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.625 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.626 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.626 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 6.626 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.626 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.626 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.626 * [backup-simplify]: Simplify -0.5 into -0.5 6.626 * [taylor]: Taking taylor expansion of phi2 in phi2 6.626 * [backup-simplify]: Simplify 0 into 0 6.626 * [backup-simplify]: Simplify 1 into 1 6.626 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.626 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.626 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.626 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.626 * [backup-simplify]: Simplify -0.5 into -0.5 6.626 * [taylor]: Taking taylor expansion of phi2 in phi2 6.626 * [backup-simplify]: Simplify 0 into 0 6.626 * [backup-simplify]: Simplify 1 into 1 6.627 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.627 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.627 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.627 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.627 * [backup-simplify]: Simplify -0.5 into -0.5 6.627 * [taylor]: Taking taylor expansion of phi1 in phi2 6.627 * [backup-simplify]: Simplify phi1 into phi1 6.627 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.627 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.627 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.627 * [backup-simplify]: Simplify -0.5 into -0.5 6.627 * [taylor]: Taking taylor expansion of phi1 in phi2 6.627 * [backup-simplify]: Simplify phi1 into phi1 6.627 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.627 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.627 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.627 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.627 * [backup-simplify]: Simplify -0.5 into -0.5 6.627 * [taylor]: Taking taylor expansion of phi2 in phi2 6.627 * [backup-simplify]: Simplify 0 into 0 6.627 * [backup-simplify]: Simplify 1 into 1 6.628 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.628 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.628 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.628 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.628 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.628 * [backup-simplify]: Simplify -0.5 into -0.5 6.628 * [taylor]: Taking taylor expansion of phi2 in phi2 6.628 * [backup-simplify]: Simplify 0 into 0 6.628 * [backup-simplify]: Simplify 1 into 1 6.628 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.628 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.628 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.628 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.629 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.629 * [backup-simplify]: Simplify -0.5 into -0.5 6.629 * [taylor]: Taking taylor expansion of phi1 in phi2 6.629 * [backup-simplify]: Simplify phi1 into phi1 6.629 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.629 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.629 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.629 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.629 * [backup-simplify]: Simplify -0.5 into -0.5 6.629 * [taylor]: Taking taylor expansion of phi1 in phi2 6.629 * [backup-simplify]: Simplify phi1 into phi1 6.629 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.629 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.630 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.630 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.630 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.631 * [backup-simplify]: Simplify (- 0) into 0 6.631 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.632 * [backup-simplify]: Simplify (- 0) into 0 6.632 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.632 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.633 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.634 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.635 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.635 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.636 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.636 * [backup-simplify]: Simplify (- 0) into 0 6.636 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.637 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.637 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.637 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.637 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.637 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.637 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.637 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.637 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.637 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.637 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.638 * [backup-simplify]: Simplify (- 0) into 0 6.638 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.639 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.640 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.642 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 6.644 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.646 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 6.646 * [backup-simplify]: Simplify (+ 0) into 0 6.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.648 * [backup-simplify]: Simplify (- 0) into 0 6.648 * [backup-simplify]: Simplify (+ 0 0) into 0 6.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.649 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.649 * [backup-simplify]: Simplify (+ 0) into 0 6.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.649 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.650 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.650 * [backup-simplify]: Simplify (+ 0 0) into 0 6.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.651 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.651 * [backup-simplify]: Simplify (+ 0 0) into 0 6.651 * [backup-simplify]: Simplify (+ 0) into 0 6.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.653 * [backup-simplify]: Simplify (+ 0 0) into 0 6.653 * [backup-simplify]: Simplify (+ 0) into 0 6.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.654 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.654 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.655 * [backup-simplify]: Simplify (- 0) into 0 6.655 * [backup-simplify]: Simplify (+ 0 0) into 0 6.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.656 * [backup-simplify]: Simplify (+ 0) into 0 6.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.656 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.657 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.657 * [backup-simplify]: Simplify (- 0) into 0 6.657 * [backup-simplify]: Simplify (+ 0 0) into 0 6.657 * [backup-simplify]: Simplify (+ 0) into 0 6.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.658 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.659 * [backup-simplify]: Simplify (+ 0 0) into 0 6.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.660 * [backup-simplify]: Simplify (+ 0 0) into 0 6.660 * [backup-simplify]: Simplify (- 0) into 0 6.660 * [backup-simplify]: Simplify (+ 0 0) into 0 6.660 * [backup-simplify]: Simplify (+ 0) into 0 6.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.661 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.662 * [backup-simplify]: Simplify (- 0) into 0 6.662 * [backup-simplify]: Simplify (+ 0 0) into 0 6.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.663 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.663 * [backup-simplify]: Simplify (+ 0) into 0 6.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.663 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.664 * [backup-simplify]: Simplify (+ 0 0) into 0 6.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.665 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.665 * [backup-simplify]: Simplify (+ 0 0) into 0 6.665 * [backup-simplify]: Simplify (+ 0) into 0 6.666 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.666 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.667 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.667 * [backup-simplify]: Simplify (- 0) into 0 6.667 * [backup-simplify]: Simplify (+ 0 0) into 0 6.667 * [backup-simplify]: Simplify (+ 0) into 0 6.668 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.669 * [backup-simplify]: Simplify (+ 0 0) into 0 6.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.670 * [backup-simplify]: Simplify (+ 0) into 0 6.670 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.672 * [backup-simplify]: Simplify (+ 0 0) into 0 6.672 * [backup-simplify]: Simplify (+ 0) into 0 6.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.673 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.674 * [backup-simplify]: Simplify (- 0) into 0 6.674 * [backup-simplify]: Simplify (+ 0 0) into 0 6.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.675 * [backup-simplify]: Simplify (+ 0 0) into 0 6.675 * [backup-simplify]: Simplify (- 0) into 0 6.675 * [backup-simplify]: Simplify (+ 0 0) into 0 6.677 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 6.682 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.684 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.684 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2 6.684 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 6.684 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 6.684 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 6.684 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 6.684 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 6.684 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.684 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.684 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.684 * [backup-simplify]: Simplify -0.5 into -0.5 6.684 * [taylor]: Taking taylor expansion of phi2 in phi2 6.684 * [backup-simplify]: Simplify 0 into 0 6.684 * [backup-simplify]: Simplify 1 into 1 6.685 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.685 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.685 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 6.685 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.685 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.685 * [backup-simplify]: Simplify -0.5 into -0.5 6.685 * [taylor]: Taking taylor expansion of phi1 in phi2 6.685 * [backup-simplify]: Simplify phi1 into phi1 6.685 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.685 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.685 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.685 * [backup-simplify]: Simplify (- 0) into 0 6.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.686 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 6.686 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 6.686 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.686 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.686 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.686 * [backup-simplify]: Simplify -0.5 into -0.5 6.686 * [taylor]: Taking taylor expansion of phi2 in phi2 6.686 * [backup-simplify]: Simplify 0 into 0 6.686 * [backup-simplify]: Simplify 1 into 1 6.686 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.686 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.686 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 6.686 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.686 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.686 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.686 * [backup-simplify]: Simplify -0.5 into -0.5 6.686 * [taylor]: Taking taylor expansion of phi1 in phi2 6.686 * [backup-simplify]: Simplify phi1 into phi1 6.686 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.686 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.686 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.686 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.686 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 6.687 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 6.687 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.687 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.687 * [backup-simplify]: Simplify -0.5 into -0.5 6.687 * [taylor]: Taking taylor expansion of phi2 in phi2 6.687 * [backup-simplify]: Simplify 0 into 0 6.687 * [backup-simplify]: Simplify 1 into 1 6.687 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.687 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.687 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 6.687 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.687 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.687 * [backup-simplify]: Simplify -0.5 into -0.5 6.687 * [taylor]: Taking taylor expansion of phi2 in phi2 6.687 * [backup-simplify]: Simplify 0 into 0 6.687 * [backup-simplify]: Simplify 1 into 1 6.687 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.688 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 6.688 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.688 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.688 * [backup-simplify]: Simplify -0.5 into -0.5 6.688 * [taylor]: Taking taylor expansion of phi1 in phi2 6.688 * [backup-simplify]: Simplify phi1 into phi1 6.688 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.688 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.688 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.688 * [backup-simplify]: Simplify -0.5 into -0.5 6.688 * [taylor]: Taking taylor expansion of phi1 in phi2 6.688 * [backup-simplify]: Simplify phi1 into phi1 6.688 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.688 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 6.688 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 6.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.688 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.688 * [backup-simplify]: Simplify -0.5 into -0.5 6.688 * [taylor]: Taking taylor expansion of phi2 in phi2 6.688 * [backup-simplify]: Simplify 0 into 0 6.688 * [backup-simplify]: Simplify 1 into 1 6.688 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.688 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 6.689 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 6.689 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 6.689 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.689 * [backup-simplify]: Simplify -0.5 into -0.5 6.689 * [taylor]: Taking taylor expansion of phi2 in phi2 6.689 * [backup-simplify]: Simplify 0 into 0 6.689 * [backup-simplify]: Simplify 1 into 1 6.689 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.689 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.689 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 6.689 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 6.689 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.689 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.689 * [backup-simplify]: Simplify -0.5 into -0.5 6.689 * [taylor]: Taking taylor expansion of phi1 in phi2 6.689 * [backup-simplify]: Simplify phi1 into phi1 6.689 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.689 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.689 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.689 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 6.689 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 6.689 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.689 * [backup-simplify]: Simplify -0.5 into -0.5 6.689 * [taylor]: Taking taylor expansion of phi1 in phi2 6.689 * [backup-simplify]: Simplify phi1 into phi1 6.689 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.689 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.689 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.690 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.690 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.690 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.690 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.691 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.691 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.691 * [backup-simplify]: Simplify (- 0) into 0 6.691 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 6.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 6.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 6.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.692 * [backup-simplify]: Simplify (- 0) into 0 6.692 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 6.693 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 6.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 6.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 6.694 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.695 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 6.696 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 6.701 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 6.701 * [backup-simplify]: Simplify (+ 0) into 0 6.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.702 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.703 * [backup-simplify]: Simplify (- 0) into 0 6.703 * [backup-simplify]: Simplify (+ 0 0) into 0 6.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.703 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.704 * [backup-simplify]: Simplify (+ 0) into 0 6.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.705 * [backup-simplify]: Simplify (+ 0 0) into 0 6.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.705 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.706 * [backup-simplify]: Simplify (+ 0 0) into 0 6.706 * [backup-simplify]: Simplify (+ 0) into 0 6.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.706 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.707 * [backup-simplify]: Simplify (- 0) into 0 6.708 * [backup-simplify]: Simplify (+ 0 0) into 0 6.708 * [backup-simplify]: Simplify (+ 0) into 0 6.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.708 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.709 * [backup-simplify]: Simplify (+ 0 0) into 0 6.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 6.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 6.710 * [backup-simplify]: Simplify (+ 0) into 0 6.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.711 * [backup-simplify]: Simplify (+ 0 0) into 0 6.712 * [backup-simplify]: Simplify (+ 0) into 0 6.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.712 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.713 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.713 * [backup-simplify]: Simplify (- 0) into 0 6.713 * [backup-simplify]: Simplify (+ 0 0) into 0 6.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 6.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 6.714 * [backup-simplify]: Simplify (+ 0 0) into 0 6.714 * [backup-simplify]: Simplify (- 0) into 0 6.715 * [backup-simplify]: Simplify (+ 0 0) into 0 6.717 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 6.718 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 6.720 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 6.723 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 6.725 * [backup-simplify]: Simplify (+ 0 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 6.728 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 6.728 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.729 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 6.729 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0 6.729 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 6.732 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 0) (* 0 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 6.732 * [backup-simplify]: Simplify (+ 0 0) into 0 6.732 * [backup-simplify]: Simplify (+ 0 0) into 0 6.734 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))) 6.737 * [backup-simplify]: Simplify (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))) into (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))) 6.739 * [backup-simplify]: Simplify (+ 0 (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) into (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))) 6.742 * [backup-simplify]: Simplify (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) into (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) 6.745 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))) into (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) 6.752 * [backup-simplify]: Simplify (+ (* (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) (* (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) 6.755 * [backup-simplify]: Simplify (* (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 6.762 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 6.762 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1 6.762 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1 6.762 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) in phi1 6.762 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.762 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.762 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.762 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.763 * [backup-simplify]: Simplify -0.5 into -0.5 6.763 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.763 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.763 * [taylor]: Taking taylor expansion of phi1 in phi1 6.763 * [backup-simplify]: Simplify 0 into 0 6.763 * [backup-simplify]: Simplify 1 into 1 6.763 * [backup-simplify]: Simplify (/ 1 1) into 1 6.763 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.763 * [taylor]: Taking taylor expansion of phi2 in phi1 6.763 * [backup-simplify]: Simplify phi2 into phi2 6.763 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.763 * [backup-simplify]: Simplify (+ 1 0) into 1 6.764 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.764 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.764 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1)) in phi1 6.764 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 6.764 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 6.764 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 6.764 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 6.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.764 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.764 * [backup-simplify]: Simplify -0.5 into -0.5 6.764 * [taylor]: Taking taylor expansion of phi2 in phi1 6.764 * [backup-simplify]: Simplify phi2 into phi2 6.764 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.764 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.764 * [backup-simplify]: Simplify (- 0) into 0 6.765 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.765 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 6.765 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.765 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.765 * [backup-simplify]: Simplify -0.5 into -0.5 6.765 * [taylor]: Taking taylor expansion of phi1 in phi1 6.765 * [backup-simplify]: Simplify 0 into 0 6.765 * [backup-simplify]: Simplify 1 into 1 6.765 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.765 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 6.765 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 6.765 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.765 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.765 * [backup-simplify]: Simplify -0.5 into -0.5 6.765 * [taylor]: Taking taylor expansion of phi2 in phi1 6.765 * [backup-simplify]: Simplify phi2 into phi2 6.765 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.765 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.766 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.766 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 6.766 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.766 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.766 * [backup-simplify]: Simplify -0.5 into -0.5 6.766 * [taylor]: Taking taylor expansion of phi1 in phi1 6.766 * [backup-simplify]: Simplify 0 into 0 6.766 * [backup-simplify]: Simplify 1 into 1 6.766 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.766 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.766 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 6.766 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 6.766 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.766 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.766 * [backup-simplify]: Simplify -0.5 into -0.5 6.766 * [taylor]: Taking taylor expansion of phi2 in phi1 6.766 * [backup-simplify]: Simplify phi2 into phi2 6.766 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.766 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.766 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.766 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 6.766 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.766 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.766 * [backup-simplify]: Simplify -0.5 into -0.5 6.766 * [taylor]: Taking taylor expansion of phi1 in phi1 6.766 * [backup-simplify]: Simplify 0 into 0 6.766 * [backup-simplify]: Simplify 1 into 1 6.767 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.767 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.767 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 6.767 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.767 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.767 * [backup-simplify]: Simplify -0.5 into -0.5 6.767 * [taylor]: Taking taylor expansion of phi2 in phi1 6.767 * [backup-simplify]: Simplify phi2 into phi2 6.767 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.767 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.767 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.767 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.767 * [backup-simplify]: Simplify -0.5 into -0.5 6.767 * [taylor]: Taking taylor expansion of phi1 in phi1 6.767 * [backup-simplify]: Simplify 0 into 0 6.767 * [backup-simplify]: Simplify 1 into 1 6.767 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.768 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 6.768 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.768 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.768 * [backup-simplify]: Simplify -0.5 into -0.5 6.768 * [taylor]: Taking taylor expansion of phi2 in phi1 6.768 * [backup-simplify]: Simplify phi2 into phi2 6.768 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.768 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 6.768 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.768 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.768 * [backup-simplify]: Simplify -0.5 into -0.5 6.768 * [taylor]: Taking taylor expansion of phi1 in phi1 6.768 * [backup-simplify]: Simplify 0 into 0 6.768 * [backup-simplify]: Simplify 1 into 1 6.768 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.768 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 6.768 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.768 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.768 * [backup-simplify]: Simplify -0.5 into -0.5 6.768 * [taylor]: Taking taylor expansion of phi2 in phi1 6.768 * [backup-simplify]: Simplify phi2 into phi2 6.768 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.769 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.769 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.769 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.769 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.769 * [backup-simplify]: Simplify -0.5 into -0.5 6.769 * [taylor]: Taking taylor expansion of phi1 in phi1 6.769 * [backup-simplify]: Simplify 0 into 0 6.769 * [backup-simplify]: Simplify 1 into 1 6.769 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.769 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.769 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 6.769 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.769 * [backup-simplify]: Simplify lambda1 into lambda1 6.769 * [taylor]: Taking taylor expansion of phi1 in phi1 6.769 * [backup-simplify]: Simplify 0 into 0 6.769 * [backup-simplify]: Simplify 1 into 1 6.769 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.770 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.770 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.770 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.771 * [backup-simplify]: Simplify (- 0) into 0 6.771 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.771 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 6.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 6.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 6.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.772 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.772 * [backup-simplify]: Simplify (- 0) into 0 6.772 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 6.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 6.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 6.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 6.774 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.775 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.775 * [backup-simplify]: Simplify (* lambda1 0) into 0 6.776 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 0) into 0 6.776 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 6.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.777 * [backup-simplify]: Simplify (+ 0) into 0 6.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.777 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.778 * [backup-simplify]: Simplify (- 0) into 0 6.779 * [backup-simplify]: Simplify (+ 0 0) into 0 6.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.779 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.779 * [backup-simplify]: Simplify (+ 0) into 0 6.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.780 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.781 * [backup-simplify]: Simplify (+ 0 0) into 0 6.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.781 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.781 * [backup-simplify]: Simplify (+ 0 0) into 0 6.782 * [backup-simplify]: Simplify (+ 0) into 0 6.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.783 * [backup-simplify]: Simplify (+ 0 0) into 0 6.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 6.784 * [backup-simplify]: Simplify (+ 0) into 0 6.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.785 * [backup-simplify]: Simplify (- 0) into 0 6.786 * [backup-simplify]: Simplify (+ 0 0) into 0 6.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 6.786 * [backup-simplify]: Simplify (+ 0) into 0 6.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.787 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.788 * [backup-simplify]: Simplify (- 0) into 0 6.788 * [backup-simplify]: Simplify (+ 0 0) into 0 6.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 6.788 * [backup-simplify]: Simplify (+ 0) into 0 6.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.789 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.790 * [backup-simplify]: Simplify (+ 0 0) into 0 6.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 6.790 * [backup-simplify]: Simplify (+ 0 0) into 0 6.791 * [backup-simplify]: Simplify (- 0) into 0 6.791 * [backup-simplify]: Simplify (+ 0 0) into 0 6.792 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) lambda1) (* 0 0)) into (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))))) 6.794 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))) 6.794 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1 6.794 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1 6.794 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 6.794 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 6.794 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 6.794 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 6.794 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.794 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.794 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.794 * [backup-simplify]: Simplify -0.5 into -0.5 6.794 * [taylor]: Taking taylor expansion of phi2 in phi1 6.794 * [backup-simplify]: Simplify phi2 into phi2 6.794 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.794 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.794 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.794 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.794 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.795 * [backup-simplify]: Simplify (- 0) into 0 6.795 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.795 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 6.795 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.795 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.795 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.795 * [backup-simplify]: Simplify -0.5 into -0.5 6.795 * [taylor]: Taking taylor expansion of phi1 in phi1 6.795 * [backup-simplify]: Simplify 0 into 0 6.795 * [backup-simplify]: Simplify 1 into 1 6.795 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.795 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.795 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 6.795 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 6.795 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.795 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.796 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.796 * [backup-simplify]: Simplify -0.5 into -0.5 6.796 * [taylor]: Taking taylor expansion of phi2 in phi1 6.796 * [backup-simplify]: Simplify phi2 into phi2 6.796 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.796 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.796 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.796 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 6.796 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.796 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.796 * [backup-simplify]: Simplify -0.5 into -0.5 6.796 * [taylor]: Taking taylor expansion of phi1 in phi1 6.796 * [backup-simplify]: Simplify 0 into 0 6.796 * [backup-simplify]: Simplify 1 into 1 6.800 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.800 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 6.800 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 6.800 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.800 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.800 * [backup-simplify]: Simplify -0.5 into -0.5 6.800 * [taylor]: Taking taylor expansion of phi2 in phi1 6.800 * [backup-simplify]: Simplify phi2 into phi2 6.800 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.800 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.800 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 6.800 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.800 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.801 * [backup-simplify]: Simplify -0.5 into -0.5 6.801 * [taylor]: Taking taylor expansion of phi1 in phi1 6.801 * [backup-simplify]: Simplify 0 into 0 6.801 * [backup-simplify]: Simplify 1 into 1 6.801 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.801 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 6.801 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.801 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.801 * [backup-simplify]: Simplify -0.5 into -0.5 6.801 * [taylor]: Taking taylor expansion of phi2 in phi1 6.801 * [backup-simplify]: Simplify phi2 into phi2 6.801 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.801 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.801 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.801 * [backup-simplify]: Simplify -0.5 into -0.5 6.801 * [taylor]: Taking taylor expansion of phi1 in phi1 6.801 * [backup-simplify]: Simplify 0 into 0 6.801 * [backup-simplify]: Simplify 1 into 1 6.802 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 6.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.802 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.802 * [backup-simplify]: Simplify -0.5 into -0.5 6.802 * [taylor]: Taking taylor expansion of phi2 in phi1 6.802 * [backup-simplify]: Simplify phi2 into phi2 6.802 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.802 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 6.802 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.802 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.802 * [backup-simplify]: Simplify -0.5 into -0.5 6.802 * [taylor]: Taking taylor expansion of phi1 in phi1 6.802 * [backup-simplify]: Simplify 0 into 0 6.802 * [backup-simplify]: Simplify 1 into 1 6.803 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.803 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 6.803 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.803 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.803 * [backup-simplify]: Simplify -0.5 into -0.5 6.803 * [taylor]: Taking taylor expansion of phi2 in phi1 6.803 * [backup-simplify]: Simplify phi2 into phi2 6.803 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.803 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.803 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.803 * [backup-simplify]: Simplify -0.5 into -0.5 6.803 * [taylor]: Taking taylor expansion of phi1 in phi1 6.803 * [backup-simplify]: Simplify 0 into 0 6.803 * [backup-simplify]: Simplify 1 into 1 6.803 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.804 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.804 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.804 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.804 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.805 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.805 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.805 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.805 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.805 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.805 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.805 * [backup-simplify]: Simplify (- 0) into 0 6.805 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.805 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 6.805 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 6.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 6.806 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.806 * [backup-simplify]: Simplify (- 0) into 0 6.806 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.806 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.806 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 6.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 6.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 6.807 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 6.807 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.808 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.809 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 6.811 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 6.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.811 * [backup-simplify]: Simplify (+ 0) into 0 6.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.811 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.812 * [backup-simplify]: Simplify (- 0) into 0 6.813 * [backup-simplify]: Simplify (+ 0 0) into 0 6.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.813 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.813 * [backup-simplify]: Simplify (+ 0) into 0 6.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.814 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.815 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.815 * [backup-simplify]: Simplify (+ 0 0) into 0 6.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.815 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.815 * [backup-simplify]: Simplify (+ 0 0) into 0 6.816 * [backup-simplify]: Simplify (+ 0) into 0 6.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.817 * [backup-simplify]: Simplify (- 0) into 0 6.817 * [backup-simplify]: Simplify (+ 0 0) into 0 6.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 6.818 * [backup-simplify]: Simplify (+ 0) into 0 6.818 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.818 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.819 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.819 * [backup-simplify]: Simplify (+ 0 0) into 0 6.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 6.820 * [backup-simplify]: Simplify (+ 0) into 0 6.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.820 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.821 * [backup-simplify]: Simplify (+ 0 0) into 0 6.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 6.822 * [backup-simplify]: Simplify (+ 0) into 0 6.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.823 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.823 * [backup-simplify]: Simplify (- 0) into 0 6.823 * [backup-simplify]: Simplify (+ 0 0) into 0 6.824 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 6.824 * [backup-simplify]: Simplify (+ 0 0) into 0 6.824 * [backup-simplify]: Simplify (- 0) into 0 6.824 * [backup-simplify]: Simplify (+ 0 0) into 0 6.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 6.828 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 6.830 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) 6.833 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))))) 6.833 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))))) in lambda1 6.833 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))))))) in lambda1 6.833 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1 6.833 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1 6.833 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1 6.833 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1 6.833 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 6.833 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 6.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.833 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.833 * [backup-simplify]: Simplify -0.5 into -0.5 6.833 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.833 * [backup-simplify]: Simplify phi2 into phi2 6.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.834 * [backup-simplify]: Simplify (- 0) into 0 6.834 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.834 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 6.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.834 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.834 * [backup-simplify]: Simplify -0.5 into -0.5 6.834 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.834 * [backup-simplify]: Simplify phi1 into phi1 6.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.835 * [backup-simplify]: Simplify (- 0) into 0 6.835 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.835 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 6.835 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 6.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.835 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.835 * [backup-simplify]: Simplify -0.5 into -0.5 6.835 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.835 * [backup-simplify]: Simplify phi2 into phi2 6.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.835 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.835 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 6.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.836 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.836 * [backup-simplify]: Simplify -0.5 into -0.5 6.836 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.836 * [backup-simplify]: Simplify phi1 into phi1 6.836 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.836 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1 6.836 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 6.836 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.836 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.836 * [backup-simplify]: Simplify -0.5 into -0.5 6.836 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.836 * [backup-simplify]: Simplify phi2 into phi2 6.836 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.836 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 6.836 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.836 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.836 * [backup-simplify]: Simplify -0.5 into -0.5 6.836 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.836 * [backup-simplify]: Simplify phi1 into phi1 6.836 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.837 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 6.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.837 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.837 * [backup-simplify]: Simplify -0.5 into -0.5 6.837 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.837 * [backup-simplify]: Simplify phi1 into phi1 6.837 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.837 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.837 * [backup-simplify]: Simplify -0.5 into -0.5 6.837 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.837 * [backup-simplify]: Simplify phi2 into phi2 6.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.837 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 6.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.837 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.837 * [backup-simplify]: Simplify -0.5 into -0.5 6.837 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.837 * [backup-simplify]: Simplify phi2 into phi2 6.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.838 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 6.838 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.838 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.838 * [backup-simplify]: Simplify -0.5 into -0.5 6.838 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.838 * [backup-simplify]: Simplify phi1 into phi1 6.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.838 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 6.838 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.838 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.838 * [backup-simplify]: Simplify -0.5 into -0.5 6.838 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.838 * [backup-simplify]: Simplify phi1 into phi1 6.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.838 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.838 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.838 * [backup-simplify]: Simplify -0.5 into -0.5 6.838 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.838 * [backup-simplify]: Simplify phi2 into phi2 6.838 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.839 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.839 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.840 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.841 * [backup-simplify]: Simplify (- 0) into 0 6.841 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.841 * [backup-simplify]: Simplify (- 0) into 0 6.841 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 6.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) 6.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 6.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.842 * [backup-simplify]: Simplify (- 0) into 0 6.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.842 * [backup-simplify]: Simplify (- 0) into 0 6.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.843 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.843 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 6.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 6.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 6.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 6.844 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 6.845 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 6.846 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 6.847 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) 6.847 * [backup-simplify]: Simplify (+ 0) into 0 6.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.848 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.849 * [backup-simplify]: Simplify (- 0) into 0 6.849 * [backup-simplify]: Simplify (+ 0 0) into 0 6.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.850 * [backup-simplify]: Simplify (+ 0) into 0 6.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.851 * [backup-simplify]: Simplify (- 0) into 0 6.851 * [backup-simplify]: Simplify (+ 0 0) into 0 6.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.852 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.852 * [backup-simplify]: Simplify (+ 0) into 0 6.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.852 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.853 * [backup-simplify]: Simplify (+ 0 0) into 0 6.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.854 * [backup-simplify]: Simplify (+ 0) into 0 6.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.855 * [backup-simplify]: Simplify (+ 0 0) into 0 6.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.855 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.856 * [backup-simplify]: Simplify (+ 0 0) into 0 6.856 * [backup-simplify]: Simplify (+ 0) into 0 6.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.856 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.857 * [backup-simplify]: Simplify (- 0) into 0 6.858 * [backup-simplify]: Simplify (+ 0 0) into 0 6.858 * [backup-simplify]: Simplify (+ 0) into 0 6.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.858 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.859 * [backup-simplify]: Simplify (- 0) into 0 6.859 * [backup-simplify]: Simplify (+ 0 0) into 0 6.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.860 * [backup-simplify]: Simplify (+ 0) into 0 6.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.860 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.861 * [backup-simplify]: Simplify (+ 0 0) into 0 6.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 6.862 * [backup-simplify]: Simplify (+ 0) into 0 6.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.863 * [backup-simplify]: Simplify (+ 0 0) into 0 6.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 6.864 * [backup-simplify]: Simplify (+ 0) into 0 6.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.864 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.865 * [backup-simplify]: Simplify (+ 0 0) into 0 6.865 * [backup-simplify]: Simplify (+ 0) into 0 6.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.866 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.867 * [backup-simplify]: Simplify (+ 0 0) into 0 6.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.867 * [backup-simplify]: Simplify (+ 0) into 0 6.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.869 * [backup-simplify]: Simplify (- 0) into 0 6.869 * [backup-simplify]: Simplify (+ 0 0) into 0 6.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 6.869 * [backup-simplify]: Simplify (+ 0) into 0 6.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.871 * [backup-simplify]: Simplify (- 0) into 0 6.871 * [backup-simplify]: Simplify (+ 0 0) into 0 6.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 6.871 * [backup-simplify]: Simplify (+ 0 0) into 0 6.872 * [backup-simplify]: Simplify (- 0) into 0 6.872 * [backup-simplify]: Simplify (+ 0 0) into 0 6.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 6.875 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 6.875 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))) in lambda1 6.875 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.875 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.875 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.875 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.876 * [backup-simplify]: Simplify -0.5 into -0.5 6.876 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.876 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.876 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.876 * [backup-simplify]: Simplify phi1 into phi1 6.876 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.876 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.876 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.876 * [backup-simplify]: Simplify phi2 into phi2 6.876 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.876 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.876 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.876 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.876 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.876 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.876 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.877 * [backup-simplify]: Simplify (- 0) into 0 6.877 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.877 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))))) in lambda1 6.877 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) in lambda1 6.877 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) in lambda1 6.877 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 6.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.877 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.877 * [backup-simplify]: Simplify -0.5 into -0.5 6.877 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.877 * [backup-simplify]: Simplify phi2 into phi2 6.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.877 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.877 * [taylor]: Taking taylor expansion of (* lambda1 (pow (sin (/ -0.5 phi1)) 2)) in lambda1 6.877 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.877 * [backup-simplify]: Simplify 0 into 0 6.877 * [backup-simplify]: Simplify 1 into 1 6.877 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 6.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.877 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.877 * [backup-simplify]: Simplify -0.5 into -0.5 6.877 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.877 * [backup-simplify]: Simplify phi1 into phi1 6.877 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.878 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.878 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2))) in lambda1 6.878 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 6.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.878 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.878 * [backup-simplify]: Simplify -0.5 into -0.5 6.878 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.878 * [backup-simplify]: Simplify phi2 into phi2 6.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.878 * [backup-simplify]: Simplify (- 0) into 0 6.878 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.879 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ -0.5 phi1)) 2)) in lambda1 6.879 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.879 * [backup-simplify]: Simplify 0 into 0 6.879 * [backup-simplify]: Simplify 1 into 1 6.879 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 6.879 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.879 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.879 * [backup-simplify]: Simplify -0.5 into -0.5 6.879 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.879 * [backup-simplify]: Simplify phi1 into phi1 6.879 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.879 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.879 * [backup-simplify]: Simplify (- 0) into 0 6.879 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.879 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))) in lambda1 6.880 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) in lambda1 6.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.880 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.880 * [backup-simplify]: Simplify -0.5 into -0.5 6.880 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.880 * [backup-simplify]: Simplify phi2 into phi2 6.880 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.880 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1))))) in lambda1 6.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.880 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.880 * [backup-simplify]: Simplify -0.5 into -0.5 6.880 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.880 * [backup-simplify]: Simplify phi1 into phi1 6.880 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.880 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))) in lambda1 6.880 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.880 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.880 * [backup-simplify]: Simplify -0.5 into -0.5 6.880 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.880 * [backup-simplify]: Simplify phi2 into phi2 6.880 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.880 * [taylor]: Taking taylor expansion of (* lambda1 (cos (/ -0.5 phi1))) in lambda1 6.880 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.880 * [backup-simplify]: Simplify 0 into 0 6.880 * [backup-simplify]: Simplify 1 into 1 6.880 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.880 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.880 * [backup-simplify]: Simplify -0.5 into -0.5 6.880 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.880 * [backup-simplify]: Simplify phi1 into phi1 6.880 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.881 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))) in lambda1 6.881 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 6.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.881 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.881 * [backup-simplify]: Simplify -0.5 into -0.5 6.881 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.881 * [backup-simplify]: Simplify phi2 into phi2 6.881 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.881 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))) in lambda1 6.881 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 6.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.881 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.881 * [backup-simplify]: Simplify -0.5 into -0.5 6.881 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.881 * [backup-simplify]: Simplify phi1 into phi1 6.881 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.881 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))) in lambda1 6.881 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 6.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 6.881 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.881 * [backup-simplify]: Simplify -0.5 into -0.5 6.881 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.881 * [backup-simplify]: Simplify phi2 into phi2 6.881 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.881 * [taylor]: Taking taylor expansion of (* lambda1 (sin (/ -0.5 phi1))) in lambda1 6.881 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.881 * [backup-simplify]: Simplify 0 into 0 6.881 * [backup-simplify]: Simplify 1 into 1 6.881 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 6.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 6.881 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.881 * [backup-simplify]: Simplify -0.5 into -0.5 6.881 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.881 * [backup-simplify]: Simplify phi1 into phi1 6.881 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 6.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.882 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.882 * [backup-simplify]: Simplify (* 0 (pow (sin (/ -0.5 phi1)) 2)) into 0 6.882 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) 0) into 0 6.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.883 * [backup-simplify]: Simplify (* 0 (pow (cos (/ -0.5 phi1)) 2)) into 0 6.883 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) 0) into 0 6.883 * [backup-simplify]: Simplify (+ 0 0) into 0 6.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.884 * [backup-simplify]: Simplify (- 0) into 0 6.884 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.884 * [backup-simplify]: Simplify (- 0) into 0 6.884 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.884 * [backup-simplify]: Simplify (* 0 (cos (/ -0.5 phi1))) into 0 6.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.885 * [backup-simplify]: Simplify (- 0) into 0 6.885 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 6.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 6.885 * [backup-simplify]: Simplify (- 0) into 0 6.885 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 6.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.886 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 6.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.886 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 6.886 * [backup-simplify]: Simplify (* 0 (sin (/ -0.5 phi1))) into 0 6.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 6.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.886 * [backup-simplify]: Simplify (+ 0 0) into 0 6.886 * [backup-simplify]: Simplify (- 0) into 0 6.887 * [backup-simplify]: Simplify (+ 0 0) into 0 6.887 * [backup-simplify]: Simplify (+ 0) into 0 6.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.887 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.888 * [backup-simplify]: Simplify (+ 0 0) into 0 6.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.889 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (sin (/ -0.5 phi1)) 2))) into (pow (sin (/ -0.5 phi1)) 2) 6.889 * [backup-simplify]: Simplify (+ 0) into 0 6.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.890 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.891 * [backup-simplify]: Simplify (+ 0 0) into 0 6.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.891 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* 0 0)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.892 * [backup-simplify]: Simplify (+ 0) into 0 6.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.892 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.893 * [backup-simplify]: Simplify (- 0) into 0 6.893 * [backup-simplify]: Simplify (+ 0 0) into 0 6.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.894 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (/ -0.5 phi1)) 2))) into (pow (cos (/ -0.5 phi1)) 2) 6.894 * [backup-simplify]: Simplify (+ 0) into 0 6.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.895 * [backup-simplify]: Simplify (- 0) into 0 6.896 * [backup-simplify]: Simplify (+ 0 0) into 0 6.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.896 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* 0 0)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.897 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.897 * [backup-simplify]: Simplify (+ 0) into 0 6.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.897 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.898 * [backup-simplify]: Simplify (- 0) into 0 6.899 * [backup-simplify]: Simplify (+ 0 0) into 0 6.899 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (/ -0.5 phi1)))) into (cos (/ -0.5 phi1)) 6.899 * [backup-simplify]: Simplify (+ 0) into 0 6.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.900 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.901 * [backup-simplify]: Simplify (- 0) into 0 6.901 * [backup-simplify]: Simplify (+ 0 0) into 0 6.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 6.902 * [backup-simplify]: Simplify (+ 0) into 0 6.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.908 * [backup-simplify]: Simplify (+ 0 0) into 0 6.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 6.909 * [backup-simplify]: Simplify (+ 0) into 0 6.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.910 * [backup-simplify]: Simplify (+ 0 0) into 0 6.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 6.911 * [backup-simplify]: Simplify (+ 0) into 0 6.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.912 * [backup-simplify]: Simplify (+ 0 0) into 0 6.913 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (sin (/ -0.5 phi1)))) into (sin (/ -0.5 phi1)) 6.913 * [backup-simplify]: Simplify (+ 0) into 0 6.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.913 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.914 * [backup-simplify]: Simplify (+ 0 0) into 0 6.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 6.915 * [backup-simplify]: Simplify (+ 0) into 0 6.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 6.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 6.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 6.916 * [backup-simplify]: Simplify (- 0) into 0 6.917 * [backup-simplify]: Simplify (+ 0 0) into 0 6.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) 6.917 * [backup-simplify]: Simplify (+ 0) into 0 6.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.919 * [backup-simplify]: Simplify (- 0) into 0 6.919 * [backup-simplify]: Simplify (+ 0 0) into 0 6.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 6.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 6.920 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 6.921 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 6.922 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 6.925 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 6.927 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 6.930 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 6.931 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.931 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.932 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.933 * [backup-simplify]: Simplify (- 0) into 0 6.933 * [backup-simplify]: Simplify (+ 0 0) into 0 6.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 6.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 6.934 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 6.935 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.935 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.936 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.936 * [backup-simplify]: Simplify (+ 0 0) into 0 6.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 6.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 6.937 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 6.938 * [backup-simplify]: Simplify (+ 0 0) into 0 6.938 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.940 * [backup-simplify]: Simplify (- 0) into 0 6.940 * [backup-simplify]: Simplify (+ 0 0) into 0 6.941 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.941 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.941 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.942 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.942 * [backup-simplify]: Simplify (+ 0 0) into 0 6.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 6.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 6.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 6.944 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.945 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.945 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.946 * [backup-simplify]: Simplify (+ 0 0) into 0 6.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 6.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 6.948 * [backup-simplify]: Simplify (- 0) into 0 6.948 * [backup-simplify]: Simplify (+ 0 0) into 0 6.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 6.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 6.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 6.949 * [backup-simplify]: Simplify (+ 0 0) into 0 6.950 * [backup-simplify]: Simplify (- 0) into 0 6.950 * [backup-simplify]: Simplify (+ 0 0) into 0 6.953 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 6.955 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 6.955 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 6.956 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.956 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 6.957 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) 6.957 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 6.957 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.958 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 6.959 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) 6.960 * [backup-simplify]: Simplify (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 6.962 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)))) 6.966 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 phi1))) 0) (* (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 6.974 * [backup-simplify]: Simplify (+ (* 1/2 (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) (+ (* 0 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) 6.974 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) in phi1 6.974 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) in phi1 6.974 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) in phi1 6.974 * [taylor]: Taking taylor expansion of 1/2 in phi1 6.974 * [backup-simplify]: Simplify 1/2 into 1/2 6.974 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2))) in phi1 6.974 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1 6.974 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1 6.974 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 6.974 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 6.974 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 6.974 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 6.975 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.975 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.975 * [backup-simplify]: Simplify -0.5 into -0.5 6.975 * [taylor]: Taking taylor expansion of phi2 in phi1 6.975 * [backup-simplify]: Simplify phi2 into phi2 6.975 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.975 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.975 * [backup-simplify]: Simplify (- 0) into 0 6.975 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.975 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 6.975 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.975 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.975 * [backup-simplify]: Simplify -0.5 into -0.5 6.975 * [taylor]: Taking taylor expansion of phi1 in phi1 6.975 * [backup-simplify]: Simplify 0 into 0 6.975 * [backup-simplify]: Simplify 1 into 1 6.976 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.976 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 6.976 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 6.976 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.976 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.976 * [backup-simplify]: Simplify -0.5 into -0.5 6.976 * [taylor]: Taking taylor expansion of phi2 in phi1 6.976 * [backup-simplify]: Simplify phi2 into phi2 6.976 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.976 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.976 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.976 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 6.976 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.976 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.976 * [backup-simplify]: Simplify -0.5 into -0.5 6.976 * [taylor]: Taking taylor expansion of phi1 in phi1 6.976 * [backup-simplify]: Simplify 0 into 0 6.976 * [backup-simplify]: Simplify 1 into 1 6.977 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.977 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 6.977 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 6.977 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.977 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.977 * [backup-simplify]: Simplify -0.5 into -0.5 6.977 * [taylor]: Taking taylor expansion of phi2 in phi1 6.977 * [backup-simplify]: Simplify phi2 into phi2 6.977 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.977 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.977 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 6.977 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.977 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.977 * [backup-simplify]: Simplify -0.5 into -0.5 6.977 * [taylor]: Taking taylor expansion of phi1 in phi1 6.977 * [backup-simplify]: Simplify 0 into 0 6.977 * [backup-simplify]: Simplify 1 into 1 6.978 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.978 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 6.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.978 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.978 * [backup-simplify]: Simplify -0.5 into -0.5 6.978 * [taylor]: Taking taylor expansion of phi2 in phi1 6.978 * [backup-simplify]: Simplify phi2 into phi2 6.978 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.978 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.978 * [backup-simplify]: Simplify -0.5 into -0.5 6.978 * [taylor]: Taking taylor expansion of phi1 in phi1 6.978 * [backup-simplify]: Simplify 0 into 0 6.978 * [backup-simplify]: Simplify 1 into 1 6.978 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.978 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 6.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 6.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.978 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.978 * [backup-simplify]: Simplify -0.5 into -0.5 6.978 * [taylor]: Taking taylor expansion of phi2 in phi1 6.978 * [backup-simplify]: Simplify phi2 into phi2 6.978 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.979 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 6.979 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 6.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.979 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.979 * [backup-simplify]: Simplify -0.5 into -0.5 6.979 * [taylor]: Taking taylor expansion of phi1 in phi1 6.979 * [backup-simplify]: Simplify 0 into 0 6.979 * [backup-simplify]: Simplify 1 into 1 6.979 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 6.979 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 6.979 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 6.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 6.979 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.979 * [backup-simplify]: Simplify -0.5 into -0.5 6.979 * [taylor]: Taking taylor expansion of phi2 in phi1 6.979 * [backup-simplify]: Simplify phi2 into phi2 6.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 6.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 6.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 6.979 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 6.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 6.979 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.979 * [backup-simplify]: Simplify -0.5 into -0.5 6.979 * [taylor]: Taking taylor expansion of phi1 in phi1 6.979 * [backup-simplify]: Simplify 0 into 0 6.979 * [backup-simplify]: Simplify 1 into 1 6.980 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 6.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 6.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 6.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 6.980 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 6.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 6.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 6.981 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 6.981 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 6.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.982 * [backup-simplify]: Simplify (- 0) into 0 6.982 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.982 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 6.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 6.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 6.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 6.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 6.983 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 6.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 6.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 6.983 * [backup-simplify]: Simplify (- 0) into 0 6.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 6.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 6.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 6.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 6.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 6.984 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.985 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 6.986 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 6.987 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 6.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.988 * [backup-simplify]: Simplify (+ 0) into 0 6.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.988 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.989 * [backup-simplify]: Simplify (- 0) into 0 6.989 * [backup-simplify]: Simplify (+ 0 0) into 0 6.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 6.990 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 6.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.990 * [backup-simplify]: Simplify (+ 0) into 0 6.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.991 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.992 * [backup-simplify]: Simplify (+ 0 0) into 0 6.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 6.992 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 6.992 * [backup-simplify]: Simplify (+ 0 0) into 0 6.992 * [backup-simplify]: Simplify (+ 0) into 0 6.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.994 * [backup-simplify]: Simplify (+ 0 0) into 0 6.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 6.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 6.994 * [backup-simplify]: Simplify (+ 0) into 0 6.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.996 * [backup-simplify]: Simplify (- 0) into 0 6.996 * [backup-simplify]: Simplify (+ 0 0) into 0 6.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 6.997 * [backup-simplify]: Simplify (+ 0) into 0 6.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 6.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 6.998 * [backup-simplify]: Simplify (- 0) into 0 6.998 * [backup-simplify]: Simplify (+ 0 0) into 0 6.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 6.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 6.999 * [backup-simplify]: Simplify (+ 0) into 0 6.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 6.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.004 * [backup-simplify]: Simplify (+ 0 0) into 0 7.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 7.005 * [backup-simplify]: Simplify (+ 0 0) into 0 7.005 * [backup-simplify]: Simplify (- 0) into 0 7.006 * [backup-simplify]: Simplify (+ 0 0) into 0 7.008 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 7.009 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 7.009 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 7.009 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 7.009 * [taylor]: Taking taylor expansion of phi1 in phi1 7.009 * [backup-simplify]: Simplify 0 into 0 7.009 * [backup-simplify]: Simplify 1 into 1 7.009 * [backup-simplify]: Simplify (* 1 1) into 1 7.009 * [backup-simplify]: Simplify (/ 1 1) into 1 7.009 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1 7.010 * [taylor]: Taking taylor expansion of 1/2 in phi1 7.010 * [backup-simplify]: Simplify 1/2 into 1/2 7.010 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1 7.010 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 7.010 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.010 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.010 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.010 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.010 * [backup-simplify]: Simplify -0.5 into -0.5 7.010 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.010 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.010 * [taylor]: Taking taylor expansion of phi1 in phi1 7.010 * [backup-simplify]: Simplify 0 into 0 7.010 * [backup-simplify]: Simplify 1 into 1 7.010 * [backup-simplify]: Simplify (/ 1 1) into 1 7.010 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.010 * [taylor]: Taking taylor expansion of phi2 in phi1 7.010 * [backup-simplify]: Simplify phi2 into phi2 7.010 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.010 * [backup-simplify]: Simplify (+ 1 0) into 1 7.011 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.011 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.011 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.011 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.011 * [backup-simplify]: Simplify lambda1 into lambda1 7.011 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.011 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.011 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.011 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1 7.011 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1 7.011 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 7.011 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 7.011 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 7.011 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 7.011 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.012 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.012 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.012 * [backup-simplify]: Simplify -0.5 into -0.5 7.012 * [taylor]: Taking taylor expansion of phi2 in phi1 7.012 * [backup-simplify]: Simplify phi2 into phi2 7.012 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.012 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.012 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.012 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.012 * [backup-simplify]: Simplify (- 0) into 0 7.012 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.012 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 7.012 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.012 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.012 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.012 * [backup-simplify]: Simplify -0.5 into -0.5 7.012 * [taylor]: Taking taylor expansion of phi1 in phi1 7.012 * [backup-simplify]: Simplify 0 into 0 7.012 * [backup-simplify]: Simplify 1 into 1 7.013 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.013 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 7.013 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 7.013 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.013 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.013 * [backup-simplify]: Simplify -0.5 into -0.5 7.013 * [taylor]: Taking taylor expansion of phi2 in phi1 7.013 * [backup-simplify]: Simplify phi2 into phi2 7.013 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.013 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.013 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 7.013 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.013 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.013 * [backup-simplify]: Simplify -0.5 into -0.5 7.013 * [taylor]: Taking taylor expansion of phi1 in phi1 7.013 * [backup-simplify]: Simplify 0 into 0 7.013 * [backup-simplify]: Simplify 1 into 1 7.014 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.014 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.014 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 7.014 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 7.014 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.014 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.014 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.014 * [backup-simplify]: Simplify -0.5 into -0.5 7.014 * [taylor]: Taking taylor expansion of phi2 in phi1 7.014 * [backup-simplify]: Simplify phi2 into phi2 7.014 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.014 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.014 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.014 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 7.014 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.014 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.014 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.014 * [backup-simplify]: Simplify -0.5 into -0.5 7.014 * [taylor]: Taking taylor expansion of phi1 in phi1 7.014 * [backup-simplify]: Simplify 0 into 0 7.014 * [backup-simplify]: Simplify 1 into 1 7.015 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.015 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.015 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 7.015 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.015 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.015 * [backup-simplify]: Simplify -0.5 into -0.5 7.015 * [taylor]: Taking taylor expansion of phi2 in phi1 7.015 * [backup-simplify]: Simplify phi2 into phi2 7.015 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.015 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.015 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.015 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.015 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.015 * [backup-simplify]: Simplify -0.5 into -0.5 7.015 * [taylor]: Taking taylor expansion of phi1 in phi1 7.015 * [backup-simplify]: Simplify 0 into 0 7.015 * [backup-simplify]: Simplify 1 into 1 7.015 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.015 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.015 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 7.015 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.015 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.015 * [backup-simplify]: Simplify -0.5 into -0.5 7.015 * [taylor]: Taking taylor expansion of phi2 in phi1 7.015 * [backup-simplify]: Simplify phi2 into phi2 7.015 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.016 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.016 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 7.016 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.016 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.016 * [backup-simplify]: Simplify -0.5 into -0.5 7.016 * [taylor]: Taking taylor expansion of phi1 in phi1 7.016 * [backup-simplify]: Simplify 0 into 0 7.016 * [backup-simplify]: Simplify 1 into 1 7.016 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.016 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 7.016 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.016 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.016 * [backup-simplify]: Simplify -0.5 into -0.5 7.016 * [taylor]: Taking taylor expansion of phi2 in phi1 7.016 * [backup-simplify]: Simplify phi2 into phi2 7.016 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.016 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.016 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.016 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.016 * [backup-simplify]: Simplify -0.5 into -0.5 7.016 * [taylor]: Taking taylor expansion of phi1 in phi1 7.016 * [backup-simplify]: Simplify 0 into 0 7.016 * [backup-simplify]: Simplify 1 into 1 7.017 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.017 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.017 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.018 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.018 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 7.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.018 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.018 * [backup-simplify]: Simplify (- 0) into 0 7.018 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.019 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.019 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.019 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.019 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.019 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 7.019 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 7.019 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.019 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.019 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.019 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.019 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.020 * [backup-simplify]: Simplify (- 0) into 0 7.020 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.020 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.020 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 7.020 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 7.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 7.021 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 7.022 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 7.023 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 7.024 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 7.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 7.024 * [backup-simplify]: Simplify (+ 0) into 0 7.025 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.025 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.026 * [backup-simplify]: Simplify (- 0) into 0 7.026 * [backup-simplify]: Simplify (+ 0 0) into 0 7.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 7.026 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 7.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 7.027 * [backup-simplify]: Simplify (+ 0) into 0 7.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.027 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.028 * [backup-simplify]: Simplify (+ 0 0) into 0 7.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 7.029 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 7.029 * [backup-simplify]: Simplify (+ 0 0) into 0 7.029 * [backup-simplify]: Simplify (+ 0) into 0 7.029 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.030 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.031 * [backup-simplify]: Simplify (+ 0 0) into 0 7.031 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 7.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 7.031 * [backup-simplify]: Simplify (+ 0) into 0 7.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.032 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.033 * [backup-simplify]: Simplify (- 0) into 0 7.033 * [backup-simplify]: Simplify (+ 0 0) into 0 7.033 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 7.033 * [backup-simplify]: Simplify (+ 0) into 0 7.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.034 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.035 * [backup-simplify]: Simplify (- 0) into 0 7.035 * [backup-simplify]: Simplify (+ 0 0) into 0 7.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 7.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 7.036 * [backup-simplify]: Simplify (+ 0) into 0 7.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.037 * [backup-simplify]: Simplify (+ 0 0) into 0 7.037 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 7.038 * [backup-simplify]: Simplify (+ 0 0) into 0 7.038 * [backup-simplify]: Simplify (- 0) into 0 7.038 * [backup-simplify]: Simplify (+ 0 0) into 0 7.040 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 7.041 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 7.041 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1 7.041 * [taylor]: Taking taylor expansion of 1/2 in phi1 7.041 * [backup-simplify]: Simplify 1/2 into 1/2 7.041 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1 7.041 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) in phi1 7.041 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi1 7.041 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.041 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.041 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.042 * [backup-simplify]: Simplify -0.5 into -0.5 7.042 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.042 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.042 * [taylor]: Taking taylor expansion of phi1 in phi1 7.042 * [backup-simplify]: Simplify 0 into 0 7.042 * [backup-simplify]: Simplify 1 into 1 7.042 * [backup-simplify]: Simplify (/ 1 1) into 1 7.042 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.042 * [taylor]: Taking taylor expansion of phi2 in phi1 7.042 * [backup-simplify]: Simplify phi2 into phi2 7.042 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.042 * [backup-simplify]: Simplify (+ 1 0) into 1 7.043 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.043 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.043 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)) in phi1 7.043 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 7.043 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 7.043 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 7.043 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 7.043 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.043 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.043 * [backup-simplify]: Simplify -0.5 into -0.5 7.043 * [taylor]: Taking taylor expansion of phi2 in phi1 7.043 * [backup-simplify]: Simplify phi2 into phi2 7.043 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.043 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.043 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.043 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.043 * [backup-simplify]: Simplify (- 0) into 0 7.043 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.043 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 7.044 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.044 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.044 * [backup-simplify]: Simplify -0.5 into -0.5 7.044 * [taylor]: Taking taylor expansion of phi1 in phi1 7.044 * [backup-simplify]: Simplify 0 into 0 7.044 * [backup-simplify]: Simplify 1 into 1 7.044 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.044 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.044 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 7.044 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 7.044 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.044 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.044 * [backup-simplify]: Simplify -0.5 into -0.5 7.044 * [taylor]: Taking taylor expansion of phi2 in phi1 7.044 * [backup-simplify]: Simplify phi2 into phi2 7.044 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.044 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.044 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.044 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.044 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.044 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.044 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 7.044 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.045 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.045 * [backup-simplify]: Simplify -0.5 into -0.5 7.045 * [taylor]: Taking taylor expansion of phi1 in phi1 7.045 * [backup-simplify]: Simplify 0 into 0 7.045 * [backup-simplify]: Simplify 1 into 1 7.045 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.045 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.045 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 7.045 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 7.045 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.045 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.045 * [backup-simplify]: Simplify -0.5 into -0.5 7.045 * [taylor]: Taking taylor expansion of phi1 in phi1 7.045 * [backup-simplify]: Simplify 0 into 0 7.045 * [backup-simplify]: Simplify 1 into 1 7.045 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.045 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.045 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 7.045 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.046 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.046 * [backup-simplify]: Simplify -0.5 into -0.5 7.046 * [taylor]: Taking taylor expansion of phi2 in phi1 7.046 * [backup-simplify]: Simplify phi2 into phi2 7.046 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.046 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.046 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 7.046 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.046 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.046 * [backup-simplify]: Simplify -0.5 into -0.5 7.046 * [taylor]: Taking taylor expansion of phi2 in phi1 7.046 * [backup-simplify]: Simplify phi2 into phi2 7.046 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.046 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.046 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.046 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.046 * [backup-simplify]: Simplify -0.5 into -0.5 7.046 * [taylor]: Taking taylor expansion of phi1 in phi1 7.046 * [backup-simplify]: Simplify 0 into 0 7.046 * [backup-simplify]: Simplify 1 into 1 7.046 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.046 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.046 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 7.046 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.046 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.047 * [backup-simplify]: Simplify -0.5 into -0.5 7.047 * [taylor]: Taking taylor expansion of phi1 in phi1 7.047 * [backup-simplify]: Simplify 0 into 0 7.047 * [backup-simplify]: Simplify 1 into 1 7.047 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.047 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 7.047 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.047 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.047 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.047 * [backup-simplify]: Simplify -0.5 into -0.5 7.047 * [taylor]: Taking taylor expansion of phi2 in phi1 7.047 * [backup-simplify]: Simplify phi2 into phi2 7.047 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.047 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.047 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 7.047 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.047 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.047 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.047 * [backup-simplify]: Simplify -0.5 into -0.5 7.047 * [taylor]: Taking taylor expansion of phi2 in phi1 7.047 * [backup-simplify]: Simplify phi2 into phi2 7.047 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.047 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.047 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.047 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.047 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.048 * [backup-simplify]: Simplify -0.5 into -0.5 7.048 * [taylor]: Taking taylor expansion of phi1 in phi1 7.048 * [backup-simplify]: Simplify 0 into 0 7.048 * [backup-simplify]: Simplify 1 into 1 7.048 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.048 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.048 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.048 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.048 * [backup-simplify]: Simplify lambda1 into lambda1 7.048 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.048 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) 7.049 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.049 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.049 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.049 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.049 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.049 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.050 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 7.050 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.050 * [backup-simplify]: Simplify (- 0) into 0 7.050 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.050 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.050 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 7.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 7.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.051 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.051 * [backup-simplify]: Simplify (- 0) into 0 7.051 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 7.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 7.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 7.053 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 7.054 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 7.054 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.055 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2)) 7.056 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2))) 7.056 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1 7.056 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1 7.056 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1 7.056 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 7.056 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 7.056 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 7.056 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.056 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.056 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.056 * [backup-simplify]: Simplify -0.5 into -0.5 7.056 * [taylor]: Taking taylor expansion of phi2 in phi1 7.056 * [backup-simplify]: Simplify phi2 into phi2 7.056 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.056 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.056 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.057 * [backup-simplify]: Simplify (- 0) into 0 7.057 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.057 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 7.057 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.057 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.057 * [backup-simplify]: Simplify -0.5 into -0.5 7.057 * [taylor]: Taking taylor expansion of phi1 in phi1 7.057 * [backup-simplify]: Simplify 0 into 0 7.057 * [backup-simplify]: Simplify 1 into 1 7.057 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.057 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.057 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 7.057 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 7.057 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.057 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.057 * [backup-simplify]: Simplify -0.5 into -0.5 7.057 * [taylor]: Taking taylor expansion of phi2 in phi1 7.057 * [backup-simplify]: Simplify phi2 into phi2 7.057 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.058 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.058 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.058 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.058 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.058 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.058 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 7.058 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.058 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.058 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.058 * [backup-simplify]: Simplify -0.5 into -0.5 7.058 * [taylor]: Taking taylor expansion of phi1 in phi1 7.058 * [backup-simplify]: Simplify 0 into 0 7.058 * [backup-simplify]: Simplify 1 into 1 7.058 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.058 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.058 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1 7.058 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 7.058 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.058 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.058 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.058 * [backup-simplify]: Simplify -0.5 into -0.5 7.058 * [taylor]: Taking taylor expansion of phi2 in phi1 7.058 * [backup-simplify]: Simplify phi2 into phi2 7.058 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.059 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.059 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.059 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 7.059 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.059 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.059 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.059 * [backup-simplify]: Simplify -0.5 into -0.5 7.059 * [taylor]: Taking taylor expansion of phi1 in phi1 7.059 * [backup-simplify]: Simplify 0 into 0 7.059 * [backup-simplify]: Simplify 1 into 1 7.059 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.059 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.059 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 7.059 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.059 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.059 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.059 * [backup-simplify]: Simplify -0.5 into -0.5 7.059 * [taylor]: Taking taylor expansion of phi2 in phi1 7.059 * [backup-simplify]: Simplify phi2 into phi2 7.059 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.059 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.059 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.059 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.059 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.059 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.059 * [backup-simplify]: Simplify -0.5 into -0.5 7.059 * [taylor]: Taking taylor expansion of phi1 in phi1 7.059 * [backup-simplify]: Simplify 0 into 0 7.059 * [backup-simplify]: Simplify 1 into 1 7.060 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.060 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.060 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 7.060 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.060 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.060 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.060 * [backup-simplify]: Simplify -0.5 into -0.5 7.060 * [taylor]: Taking taylor expansion of phi2 in phi1 7.060 * [backup-simplify]: Simplify phi2 into phi2 7.060 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.060 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.060 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.060 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 7.060 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.060 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.060 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.060 * [backup-simplify]: Simplify -0.5 into -0.5 7.060 * [taylor]: Taking taylor expansion of phi1 in phi1 7.060 * [backup-simplify]: Simplify 0 into 0 7.060 * [backup-simplify]: Simplify 1 into 1 7.060 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.061 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 7.061 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.061 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.061 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.061 * [backup-simplify]: Simplify -0.5 into -0.5 7.061 * [taylor]: Taking taylor expansion of phi2 in phi1 7.061 * [backup-simplify]: Simplify phi2 into phi2 7.061 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.061 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.061 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.061 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.061 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.061 * [backup-simplify]: Simplify -0.5 into -0.5 7.061 * [taylor]: Taking taylor expansion of phi1 in phi1 7.061 * [backup-simplify]: Simplify 0 into 0 7.061 * [backup-simplify]: Simplify 1 into 1 7.061 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.061 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.061 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.061 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.062 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.062 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.062 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.062 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.062 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 7.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.063 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.063 * [backup-simplify]: Simplify (- 0) into 0 7.063 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.063 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.063 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.063 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 7.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 7.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.064 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.064 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.064 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.064 * [backup-simplify]: Simplify (- 0) into 0 7.064 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.064 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 7.065 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 7.065 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 7.065 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 7.066 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 7.067 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 7.069 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 7.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 7.069 * [backup-simplify]: Simplify (+ 0) into 0 7.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.070 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.071 * [backup-simplify]: Simplify (- 0) into 0 7.071 * [backup-simplify]: Simplify (+ 0 0) into 0 7.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 7.071 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 7.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 7.072 * [backup-simplify]: Simplify (+ 0) into 0 7.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.072 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.073 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.073 * [backup-simplify]: Simplify (+ 0 0) into 0 7.073 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 7.073 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 7.074 * [backup-simplify]: Simplify (+ 0 0) into 0 7.074 * [backup-simplify]: Simplify (+ 0) into 0 7.074 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.075 * [backup-simplify]: Simplify (+ 0 0) into 0 7.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 7.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 7.076 * [backup-simplify]: Simplify (+ 0) into 0 7.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.076 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.077 * [backup-simplify]: Simplify (- 0) into 0 7.077 * [backup-simplify]: Simplify (+ 0 0) into 0 7.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 7.078 * [backup-simplify]: Simplify (+ 0) into 0 7.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.078 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.079 * [backup-simplify]: Simplify (- 0) into 0 7.080 * [backup-simplify]: Simplify (+ 0 0) into 0 7.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 7.080 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 7.080 * [backup-simplify]: Simplify (+ 0) into 0 7.081 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.081 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.082 * [backup-simplify]: Simplify (+ 0 0) into 0 7.082 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 7.082 * [backup-simplify]: Simplify (+ 0 0) into 0 7.082 * [backup-simplify]: Simplify (- 0) into 0 7.083 * [backup-simplify]: Simplify (+ 0 0) into 0 7.085 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 7.086 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 7.086 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.087 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 7.088 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 1)) into 0 7.089 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) 7.091 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 7.091 * [backup-simplify]: Simplify (+ 0 0) into 0 7.091 * [backup-simplify]: Simplify (+ 0 0) into 0 7.091 * [taylor]: Taking taylor expansion of 0 in lambda1 7.091 * [backup-simplify]: Simplify 0 into 0 7.092 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 7.092 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 7.093 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 7.095 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0 7.095 * [taylor]: Taking taylor expansion of 0 in phi1 7.095 * [backup-simplify]: Simplify 0 into 0 7.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.096 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.096 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.097 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.097 * [backup-simplify]: Simplify (- 0) into 0 7.097 * [backup-simplify]: Simplify (+ 0 0) into 0 7.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 7.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 7.099 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 7.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.101 * [backup-simplify]: Simplify (+ 0 0) into 0 7.101 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 7.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 7.102 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 7.102 * [backup-simplify]: Simplify (+ 0 0) into 0 7.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.103 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.109 * [backup-simplify]: Simplify (+ 0 0) into 0 7.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.111 * [backup-simplify]: Simplify (- 0) into 0 7.112 * [backup-simplify]: Simplify (+ 0 0) into 0 7.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 7.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 7.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 7.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.115 * [backup-simplify]: Simplify (- 0) into 0 7.115 * [backup-simplify]: Simplify (+ 0 0) into 0 7.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.117 * [backup-simplify]: Simplify (+ 0 0) into 0 7.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 7.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 7.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 7.119 * [backup-simplify]: Simplify (+ 0 0) into 0 7.119 * [backup-simplify]: Simplify (- 0) into 0 7.119 * [backup-simplify]: Simplify (+ 0 0) into 0 7.121 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 7.121 * [taylor]: Taking taylor expansion of 0 in phi1 7.121 * [backup-simplify]: Simplify 0 into 0 7.122 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 7.123 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 1)) into 0 7.123 * [backup-simplify]: Simplify (- 0) into 0 7.123 * [taylor]: Taking taylor expansion of 0 in lambda1 7.123 * [backup-simplify]: Simplify 0 into 0 7.124 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.126 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.126 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1 7.126 * [taylor]: Taking taylor expansion of -1 in lambda1 7.126 * [backup-simplify]: Simplify -1 into -1 7.126 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 7.126 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1 7.126 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1 7.126 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1 7.126 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1 7.126 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 7.126 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 7.126 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.126 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.126 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.126 * [backup-simplify]: Simplify -0.5 into -0.5 7.126 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.126 * [backup-simplify]: Simplify phi2 into phi2 7.126 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.126 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.126 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.127 * [backup-simplify]: Simplify (- 0) into 0 7.127 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.127 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 7.127 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.127 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.127 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.127 * [backup-simplify]: Simplify -0.5 into -0.5 7.127 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.127 * [backup-simplify]: Simplify phi1 into phi1 7.127 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.127 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.127 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.127 * [backup-simplify]: Simplify (- 0) into 0 7.128 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.128 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 7.128 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 7.128 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.128 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.128 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.128 * [backup-simplify]: Simplify -0.5 into -0.5 7.128 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.128 * [backup-simplify]: Simplify phi2 into phi2 7.128 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.128 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.128 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.128 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.128 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 7.128 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.128 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.128 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.128 * [backup-simplify]: Simplify -0.5 into -0.5 7.128 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.128 * [backup-simplify]: Simplify phi1 into phi1 7.128 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.128 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.128 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.128 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.128 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1 7.129 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1 7.129 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.129 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.129 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.129 * [backup-simplify]: Simplify -0.5 into -0.5 7.129 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.129 * [backup-simplify]: Simplify phi2 into phi2 7.129 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.129 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.129 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.129 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1 7.129 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.129 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.129 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.129 * [backup-simplify]: Simplify -0.5 into -0.5 7.129 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.129 * [backup-simplify]: Simplify phi1 into phi1 7.129 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.129 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.129 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.129 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1 7.129 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.129 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.129 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.129 * [backup-simplify]: Simplify -0.5 into -0.5 7.129 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.129 * [backup-simplify]: Simplify phi1 into phi1 7.129 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.129 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.129 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.129 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.129 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.129 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.129 * [backup-simplify]: Simplify -0.5 into -0.5 7.129 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.129 * [backup-simplify]: Simplify phi2 into phi2 7.129 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.129 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.130 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.130 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 7.130 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.130 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.130 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.130 * [backup-simplify]: Simplify -0.5 into -0.5 7.130 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.130 * [backup-simplify]: Simplify phi2 into phi2 7.130 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.130 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.130 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.130 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 7.130 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.130 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.130 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.130 * [backup-simplify]: Simplify -0.5 into -0.5 7.130 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.130 * [backup-simplify]: Simplify phi1 into phi1 7.130 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.130 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.130 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.130 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 7.130 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.130 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.130 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.130 * [backup-simplify]: Simplify -0.5 into -0.5 7.130 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.130 * [backup-simplify]: Simplify phi1 into phi1 7.130 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.130 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.130 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.130 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.130 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.130 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.130 * [backup-simplify]: Simplify -0.5 into -0.5 7.130 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.130 * [backup-simplify]: Simplify phi2 into phi2 7.130 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.130 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.131 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.131 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.131 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.131 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.131 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.131 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.132 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.132 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 7.132 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.132 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.132 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.132 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.132 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.132 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.132 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.132 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.133 * [backup-simplify]: Simplify (- 0) into 0 7.133 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.133 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.133 * [backup-simplify]: Simplify (- 0) into 0 7.133 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 7.134 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) 7.134 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 7.134 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.134 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.134 * [backup-simplify]: Simplify (- 0) into 0 7.134 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.134 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.134 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.135 * [backup-simplify]: Simplify (- 0) into 0 7.135 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.135 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.135 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.135 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.135 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.135 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.135 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.135 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 7.135 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 7.135 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 7.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 7.136 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 7.137 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 7.138 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 7.139 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) 7.140 * [backup-simplify]: Simplify (+ 0) into 0 7.140 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.140 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.141 * [backup-simplify]: Simplify (- 0) into 0 7.141 * [backup-simplify]: Simplify (+ 0 0) into 0 7.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 7.142 * [backup-simplify]: Simplify (+ 0) into 0 7.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.142 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.143 * [backup-simplify]: Simplify (- 0) into 0 7.144 * [backup-simplify]: Simplify (+ 0 0) into 0 7.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 7.144 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 7.144 * [backup-simplify]: Simplify (+ 0) into 0 7.144 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.146 * [backup-simplify]: Simplify (+ 0 0) into 0 7.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 7.146 * [backup-simplify]: Simplify (+ 0) into 0 7.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.146 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.147 * [backup-simplify]: Simplify (+ 0 0) into 0 7.148 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 7.148 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 7.148 * [backup-simplify]: Simplify (+ 0 0) into 0 7.148 * [backup-simplify]: Simplify (+ 0) into 0 7.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.149 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.150 * [backup-simplify]: Simplify (- 0) into 0 7.150 * [backup-simplify]: Simplify (+ 0 0) into 0 7.150 * [backup-simplify]: Simplify (+ 0) into 0 7.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.152 * [backup-simplify]: Simplify (- 0) into 0 7.152 * [backup-simplify]: Simplify (+ 0 0) into 0 7.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 7.152 * [backup-simplify]: Simplify (+ 0) into 0 7.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.153 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.154 * [backup-simplify]: Simplify (+ 0 0) into 0 7.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 7.154 * [backup-simplify]: Simplify (+ 0) into 0 7.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.156 * [backup-simplify]: Simplify (+ 0 0) into 0 7.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 7.156 * [backup-simplify]: Simplify (+ 0) into 0 7.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.156 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.157 * [backup-simplify]: Simplify (+ 0 0) into 0 7.158 * [backup-simplify]: Simplify (+ 0) into 0 7.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.159 * [backup-simplify]: Simplify (+ 0 0) into 0 7.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 7.160 * [backup-simplify]: Simplify (+ 0) into 0 7.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.160 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.161 * [backup-simplify]: Simplify (- 0) into 0 7.161 * [backup-simplify]: Simplify (+ 0 0) into 0 7.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 7.162 * [backup-simplify]: Simplify (+ 0) into 0 7.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.162 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.163 * [backup-simplify]: Simplify (- 0) into 0 7.163 * [backup-simplify]: Simplify (+ 0 0) into 0 7.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 7.164 * [backup-simplify]: Simplify (+ 0 0) into 0 7.164 * [backup-simplify]: Simplify (- 0) into 0 7.164 * [backup-simplify]: Simplify (+ 0 0) into 0 7.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 7.167 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 7.167 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 7.167 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.167 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.167 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.167 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.168 * [backup-simplify]: Simplify -0.5 into -0.5 7.168 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.168 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.168 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.168 * [backup-simplify]: Simplify phi1 into phi1 7.168 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.168 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.168 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.168 * [backup-simplify]: Simplify phi2 into phi2 7.168 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.168 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.168 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.168 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.168 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.168 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.168 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.169 * [backup-simplify]: Simplify (- 0) into 0 7.169 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.169 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.169 * [backup-simplify]: Simplify 0 into 0 7.169 * [backup-simplify]: Simplify 1 into 1 7.169 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.169 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.171 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 7.172 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 7.173 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (* -1 (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 7.174 * [taylor]: Taking taylor expansion of 0 in lambda1 7.174 * [backup-simplify]: Simplify 0 into 0 7.174 * [taylor]: Taking taylor expansion of 0 in lambda1 7.174 * [backup-simplify]: Simplify 0 into 0 7.175 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) 7.176 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 7.184 * [backup-simplify]: Simplify (+ (* (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))) (* 1 (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (/ 1 (- lambda2)))))) (+ (* (* -1 (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1)))) (* (- (* (/ (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (pow (/ 1 (- lambda2)) 2))))))) into (+ (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 3)))))) 7.184 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1 1) 7.184 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.184 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 7.184 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.184 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.184 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.184 * [backup-simplify]: Simplify 0.5 into 0.5 7.184 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.184 * [taylor]: Taking taylor expansion of phi2 in phi1 7.184 * [backup-simplify]: Simplify phi2 into phi2 7.184 * [taylor]: Taking taylor expansion of phi1 in phi1 7.184 * [backup-simplify]: Simplify 0 into 0 7.184 * [backup-simplify]: Simplify 1 into 1 7.184 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.184 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.184 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.184 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.184 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.184 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.184 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.184 * [backup-simplify]: Simplify 0.5 into 0.5 7.184 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.184 * [taylor]: Taking taylor expansion of phi2 in phi2 7.184 * [backup-simplify]: Simplify 0 into 0 7.184 * [backup-simplify]: Simplify 1 into 1 7.184 * [taylor]: Taking taylor expansion of phi1 in phi2 7.184 * [backup-simplify]: Simplify phi1 into phi1 7.184 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.185 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.185 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.185 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.185 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.185 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.185 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.185 * [backup-simplify]: Simplify 0.5 into 0.5 7.185 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.185 * [taylor]: Taking taylor expansion of phi2 in phi2 7.185 * [backup-simplify]: Simplify 0 into 0 7.185 * [backup-simplify]: Simplify 1 into 1 7.185 * [taylor]: Taking taylor expansion of phi1 in phi2 7.185 * [backup-simplify]: Simplify phi1 into phi1 7.185 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.185 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.185 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.185 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.185 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.185 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.185 * [backup-simplify]: Simplify (- 0) into 0 7.186 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.186 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.186 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.186 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.186 * [backup-simplify]: Simplify 0.5 into 0.5 7.186 * [taylor]: Taking taylor expansion of phi1 in phi1 7.186 * [backup-simplify]: Simplify 0 into 0 7.186 * [backup-simplify]: Simplify 1 into 1 7.186 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.187 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.187 * [backup-simplify]: Simplify 1 into 1 7.187 * [backup-simplify]: Simplify (+ 0) into 0 7.187 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 7.188 * [backup-simplify]: Simplify (+ 1 0) into 1 7.188 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 7.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.190 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 7.190 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.190 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.190 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 7.190 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 7.190 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.190 * [backup-simplify]: Simplify 0.5 into 0.5 7.190 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 7.190 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.190 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.190 * [backup-simplify]: Simplify 0.5 into 0.5 7.190 * [taylor]: Taking taylor expansion of phi1 in phi1 7.190 * [backup-simplify]: Simplify 0 into 0 7.190 * [backup-simplify]: Simplify 1 into 1 7.191 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.192 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.192 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.192 * [backup-simplify]: Simplify (- 0) into 0 7.192 * [backup-simplify]: Simplify 0 into 0 7.192 * [backup-simplify]: Simplify (+ 0) into 0 7.192 * [backup-simplify]: Simplify 0 into 0 7.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 7.195 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 7.195 * [backup-simplify]: Simplify (+ 0 0) into 0 7.196 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 7.196 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.196 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 7.197 * [backup-simplify]: Simplify (- 0) into 0 7.197 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 7.197 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 7.197 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 7.197 * [taylor]: Taking taylor expansion of 0.125 in phi1 7.197 * [backup-simplify]: Simplify 0.125 into 0.125 7.197 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.197 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.197 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.197 * [backup-simplify]: Simplify 0.5 into 0.5 7.197 * [taylor]: Taking taylor expansion of phi1 in phi1 7.197 * [backup-simplify]: Simplify 0 into 0 7.197 * [backup-simplify]: Simplify 1 into 1 7.197 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.198 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.198 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 7.199 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 7.199 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 7.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.201 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 7.202 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 7.202 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 7.202 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) 7.203 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.203 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 7.203 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.203 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.203 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.203 * [backup-simplify]: Simplify 0.5 into 0.5 7.203 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.203 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.203 * [taylor]: Taking taylor expansion of phi1 in phi1 7.203 * [backup-simplify]: Simplify 0 into 0 7.203 * [backup-simplify]: Simplify 1 into 1 7.203 * [backup-simplify]: Simplify (/ 1 1) into 1 7.203 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.203 * [taylor]: Taking taylor expansion of phi2 in phi1 7.203 * [backup-simplify]: Simplify phi2 into phi2 7.203 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.476 * [backup-simplify]: Simplify (+ 1 0) into 1 7.477 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.477 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.477 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.477 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.477 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.477 * [backup-simplify]: Simplify 0.5 into 0.5 7.477 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.477 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.477 * [taylor]: Taking taylor expansion of phi1 in phi2 7.477 * [backup-simplify]: Simplify phi1 into phi1 7.477 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.477 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.477 * [taylor]: Taking taylor expansion of phi2 in phi2 7.477 * [backup-simplify]: Simplify 0 into 0 7.477 * [backup-simplify]: Simplify 1 into 1 7.478 * [backup-simplify]: Simplify (/ 1 1) into 1 7.478 * [backup-simplify]: Simplify (+ 0 1) into 1 7.478 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.478 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.478 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.478 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.478 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.478 * [backup-simplify]: Simplify 0.5 into 0.5 7.478 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.479 * [taylor]: Taking taylor expansion of phi1 in phi2 7.479 * [backup-simplify]: Simplify phi1 into phi1 7.479 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.479 * [taylor]: Taking taylor expansion of phi2 in phi2 7.479 * [backup-simplify]: Simplify 0 into 0 7.479 * [backup-simplify]: Simplify 1 into 1 7.479 * [backup-simplify]: Simplify (/ 1 1) into 1 7.479 * [backup-simplify]: Simplify (+ 0 1) into 1 7.480 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.480 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.480 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.480 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.480 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.480 * [backup-simplify]: Simplify 0.5 into 0.5 7.480 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.480 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.480 * [taylor]: Taking taylor expansion of phi1 in phi1 7.480 * [backup-simplify]: Simplify 0 into 0 7.480 * [backup-simplify]: Simplify 1 into 1 7.480 * [backup-simplify]: Simplify (/ 1 1) into 1 7.480 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.480 * [taylor]: Taking taylor expansion of phi2 in phi1 7.480 * [backup-simplify]: Simplify phi2 into phi2 7.480 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.481 * [backup-simplify]: Simplify (+ 1 0) into 1 7.481 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.481 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.481 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.481 * [taylor]: Taking taylor expansion of 0 in phi1 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [taylor]: Taking taylor expansion of 0 in phi1 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [taylor]: Taking taylor expansion of 0 in phi1 7.481 * [backup-simplify]: Simplify 0 into 0 7.481 * [backup-simplify]: Simplify 0 into 0 7.482 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 7.482 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.482 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 7.482 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.482 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.482 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.482 * [backup-simplify]: Simplify -0.5 into -0.5 7.482 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.482 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.482 * [taylor]: Taking taylor expansion of phi1 in phi1 7.482 * [backup-simplify]: Simplify 0 into 0 7.482 * [backup-simplify]: Simplify 1 into 1 7.482 * [backup-simplify]: Simplify (/ 1 1) into 1 7.482 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.482 * [taylor]: Taking taylor expansion of phi2 in phi1 7.482 * [backup-simplify]: Simplify phi2 into phi2 7.482 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.482 * [backup-simplify]: Simplify (+ 1 0) into 1 7.483 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.483 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.483 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.483 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.483 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.483 * [backup-simplify]: Simplify -0.5 into -0.5 7.483 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.483 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.483 * [taylor]: Taking taylor expansion of phi1 in phi2 7.483 * [backup-simplify]: Simplify phi1 into phi1 7.483 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.483 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.483 * [taylor]: Taking taylor expansion of phi2 in phi2 7.483 * [backup-simplify]: Simplify 0 into 0 7.483 * [backup-simplify]: Simplify 1 into 1 7.483 * [backup-simplify]: Simplify (/ 1 1) into 1 7.484 * [backup-simplify]: Simplify (+ 0 1) into 1 7.484 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.484 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.484 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.484 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.484 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.484 * [backup-simplify]: Simplify -0.5 into -0.5 7.484 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.484 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.484 * [taylor]: Taking taylor expansion of phi1 in phi2 7.484 * [backup-simplify]: Simplify phi1 into phi1 7.484 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.484 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.484 * [taylor]: Taking taylor expansion of phi2 in phi2 7.484 * [backup-simplify]: Simplify 0 into 0 7.484 * [backup-simplify]: Simplify 1 into 1 7.484 * [backup-simplify]: Simplify (/ 1 1) into 1 7.485 * [backup-simplify]: Simplify (+ 0 1) into 1 7.485 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.485 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.485 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.485 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.485 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.485 * [backup-simplify]: Simplify -0.5 into -0.5 7.485 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.485 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.485 * [taylor]: Taking taylor expansion of phi1 in phi1 7.485 * [backup-simplify]: Simplify 0 into 0 7.485 * [backup-simplify]: Simplify 1 into 1 7.485 * [backup-simplify]: Simplify (/ 1 1) into 1 7.486 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.486 * [taylor]: Taking taylor expansion of phi2 in phi1 7.486 * [backup-simplify]: Simplify phi2 into phi2 7.486 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.486 * [backup-simplify]: Simplify (+ 1 0) into 1 7.486 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.486 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.486 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.487 * [taylor]: Taking taylor expansion of 0 in phi1 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [taylor]: Taking taylor expansion of 0 in phi1 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [taylor]: Taking taylor expansion of 0 in phi1 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 7.487 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2 1 1) 7.487 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.487 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 7.487 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.487 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.487 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.487 * [backup-simplify]: Simplify 0.5 into 0.5 7.487 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.487 * [taylor]: Taking taylor expansion of phi2 in phi1 7.487 * [backup-simplify]: Simplify phi2 into phi2 7.487 * [taylor]: Taking taylor expansion of phi1 in phi1 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 1 into 1 7.487 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.487 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.487 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.487 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.487 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.487 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.487 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.487 * [backup-simplify]: Simplify 0.5 into 0.5 7.487 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.487 * [taylor]: Taking taylor expansion of phi2 in phi2 7.487 * [backup-simplify]: Simplify 0 into 0 7.487 * [backup-simplify]: Simplify 1 into 1 7.487 * [taylor]: Taking taylor expansion of phi1 in phi2 7.488 * [backup-simplify]: Simplify phi1 into phi1 7.488 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.488 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.488 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.488 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.488 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.488 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.488 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.488 * [backup-simplify]: Simplify 0.5 into 0.5 7.488 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.488 * [taylor]: Taking taylor expansion of phi2 in phi2 7.488 * [backup-simplify]: Simplify 0 into 0 7.488 * [backup-simplify]: Simplify 1 into 1 7.488 * [taylor]: Taking taylor expansion of phi1 in phi2 7.488 * [backup-simplify]: Simplify phi1 into phi1 7.488 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.488 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.488 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.488 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.488 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.488 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.488 * [backup-simplify]: Simplify (- 0) into 0 7.488 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.488 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.488 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.488 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.489 * [backup-simplify]: Simplify 0.5 into 0.5 7.489 * [taylor]: Taking taylor expansion of phi1 in phi1 7.489 * [backup-simplify]: Simplify 0 into 0 7.489 * [backup-simplify]: Simplify 1 into 1 7.489 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.490 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.490 * [backup-simplify]: Simplify 1 into 1 7.490 * [backup-simplify]: Simplify (+ 0) into 0 7.490 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 7.491 * [backup-simplify]: Simplify (+ 1 0) into 1 7.491 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 7.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.493 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 7.493 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.493 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.493 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 7.493 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 7.493 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.493 * [backup-simplify]: Simplify 0.5 into 0.5 7.493 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 7.493 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.493 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.493 * [backup-simplify]: Simplify 0.5 into 0.5 7.493 * [taylor]: Taking taylor expansion of phi1 in phi1 7.493 * [backup-simplify]: Simplify 0 into 0 7.493 * [backup-simplify]: Simplify 1 into 1 7.493 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.494 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.494 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.495 * [backup-simplify]: Simplify (- 0) into 0 7.495 * [backup-simplify]: Simplify 0 into 0 7.495 * [backup-simplify]: Simplify (+ 0) into 0 7.495 * [backup-simplify]: Simplify 0 into 0 7.496 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 7.497 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 7.497 * [backup-simplify]: Simplify (+ 0 0) into 0 7.498 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 7.498 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.499 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 7.499 * [backup-simplify]: Simplify (- 0) into 0 7.499 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 7.499 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 7.499 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 7.499 * [taylor]: Taking taylor expansion of 0.125 in phi1 7.499 * [backup-simplify]: Simplify 0.125 into 0.125 7.499 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.499 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.499 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.499 * [backup-simplify]: Simplify 0.5 into 0.5 7.499 * [taylor]: Taking taylor expansion of phi1 in phi1 7.499 * [backup-simplify]: Simplify 0 into 0 7.499 * [backup-simplify]: Simplify 1 into 1 7.500 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.500 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.501 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 7.501 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 7.501 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 7.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.503 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 7.504 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 7.504 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 7.504 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) 7.505 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.505 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 7.505 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.505 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.505 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.505 * [backup-simplify]: Simplify 0.5 into 0.5 7.505 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.505 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.505 * [taylor]: Taking taylor expansion of phi1 in phi1 7.505 * [backup-simplify]: Simplify 0 into 0 7.505 * [backup-simplify]: Simplify 1 into 1 7.505 * [backup-simplify]: Simplify (/ 1 1) into 1 7.505 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.505 * [taylor]: Taking taylor expansion of phi2 in phi1 7.505 * [backup-simplify]: Simplify phi2 into phi2 7.505 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.505 * [backup-simplify]: Simplify (+ 1 0) into 1 7.506 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.506 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.506 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.506 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.506 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.506 * [backup-simplify]: Simplify 0.5 into 0.5 7.506 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.506 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.506 * [taylor]: Taking taylor expansion of phi1 in phi2 7.506 * [backup-simplify]: Simplify phi1 into phi1 7.506 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.506 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.506 * [taylor]: Taking taylor expansion of phi2 in phi2 7.506 * [backup-simplify]: Simplify 0 into 0 7.506 * [backup-simplify]: Simplify 1 into 1 7.506 * [backup-simplify]: Simplify (/ 1 1) into 1 7.507 * [backup-simplify]: Simplify (+ 0 1) into 1 7.507 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.507 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.507 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.507 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.507 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.507 * [backup-simplify]: Simplify 0.5 into 0.5 7.507 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.507 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.507 * [taylor]: Taking taylor expansion of phi1 in phi2 7.507 * [backup-simplify]: Simplify phi1 into phi1 7.507 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.507 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.507 * [taylor]: Taking taylor expansion of phi2 in phi2 7.507 * [backup-simplify]: Simplify 0 into 0 7.507 * [backup-simplify]: Simplify 1 into 1 7.507 * [backup-simplify]: Simplify (/ 1 1) into 1 7.508 * [backup-simplify]: Simplify (+ 0 1) into 1 7.508 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.508 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.508 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.508 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.508 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.508 * [backup-simplify]: Simplify 0.5 into 0.5 7.508 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.508 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.508 * [taylor]: Taking taylor expansion of phi1 in phi1 7.508 * [backup-simplify]: Simplify 0 into 0 7.508 * [backup-simplify]: Simplify 1 into 1 7.509 * [backup-simplify]: Simplify (/ 1 1) into 1 7.509 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.509 * [taylor]: Taking taylor expansion of phi2 in phi1 7.509 * [backup-simplify]: Simplify phi2 into phi2 7.509 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.509 * [backup-simplify]: Simplify (+ 1 0) into 1 7.509 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.509 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.509 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.509 * [taylor]: Taking taylor expansion of 0 in phi1 7.509 * [backup-simplify]: Simplify 0 into 0 7.509 * [backup-simplify]: Simplify 0 into 0 7.509 * [backup-simplify]: Simplify 0 into 0 7.510 * [taylor]: Taking taylor expansion of 0 in phi1 7.510 * [backup-simplify]: Simplify 0 into 0 7.510 * [backup-simplify]: Simplify 0 into 0 7.510 * [backup-simplify]: Simplify 0 into 0 7.510 * [backup-simplify]: Simplify 0 into 0 7.510 * [taylor]: Taking taylor expansion of 0 in phi1 7.510 * [backup-simplify]: Simplify 0 into 0 7.510 * [backup-simplify]: Simplify 0 into 0 7.510 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 7.510 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.510 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 7.510 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.510 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.510 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.510 * [backup-simplify]: Simplify -0.5 into -0.5 7.510 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.510 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.510 * [taylor]: Taking taylor expansion of phi1 in phi1 7.510 * [backup-simplify]: Simplify 0 into 0 7.510 * [backup-simplify]: Simplify 1 into 1 7.510 * [backup-simplify]: Simplify (/ 1 1) into 1 7.510 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.510 * [taylor]: Taking taylor expansion of phi2 in phi1 7.510 * [backup-simplify]: Simplify phi2 into phi2 7.510 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.511 * [backup-simplify]: Simplify (+ 1 0) into 1 7.511 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.511 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.511 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.511 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.511 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.511 * [backup-simplify]: Simplify -0.5 into -0.5 7.511 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.511 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.511 * [taylor]: Taking taylor expansion of phi1 in phi2 7.511 * [backup-simplify]: Simplify phi1 into phi1 7.511 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.511 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.511 * [taylor]: Taking taylor expansion of phi2 in phi2 7.511 * [backup-simplify]: Simplify 0 into 0 7.511 * [backup-simplify]: Simplify 1 into 1 7.512 * [backup-simplify]: Simplify (/ 1 1) into 1 7.512 * [backup-simplify]: Simplify (+ 0 1) into 1 7.512 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.512 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.512 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.512 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.512 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.512 * [backup-simplify]: Simplify -0.5 into -0.5 7.512 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.512 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.512 * [taylor]: Taking taylor expansion of phi1 in phi2 7.512 * [backup-simplify]: Simplify phi1 into phi1 7.512 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.512 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.512 * [taylor]: Taking taylor expansion of phi2 in phi2 7.512 * [backup-simplify]: Simplify 0 into 0 7.512 * [backup-simplify]: Simplify 1 into 1 7.513 * [backup-simplify]: Simplify (/ 1 1) into 1 7.513 * [backup-simplify]: Simplify (+ 0 1) into 1 7.513 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.513 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.513 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.513 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.513 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.513 * [backup-simplify]: Simplify -0.5 into -0.5 7.513 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.513 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.513 * [taylor]: Taking taylor expansion of phi1 in phi1 7.514 * [backup-simplify]: Simplify 0 into 0 7.514 * [backup-simplify]: Simplify 1 into 1 7.514 * [backup-simplify]: Simplify (/ 1 1) into 1 7.514 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.514 * [taylor]: Taking taylor expansion of phi2 in phi1 7.514 * [backup-simplify]: Simplify phi2 into phi2 7.514 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.514 * [backup-simplify]: Simplify (+ 1 0) into 1 7.514 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.514 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.515 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.515 * [taylor]: Taking taylor expansion of 0 in phi1 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [taylor]: Taking taylor expansion of 0 in phi1 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [taylor]: Taking taylor expansion of 0 in phi1 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [backup-simplify]: Simplify 0 into 0 7.515 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 7.515 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1) 7.516 * [backup-simplify]: Simplify (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) 7.516 * [approximate]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in (lambda2 phi2 phi1 lambda1) around 0 7.516 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in lambda1 7.516 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda1 7.517 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 7.517 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 7.517 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 7.517 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 7.517 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.517 * [backup-simplify]: Simplify 0.5 into 0.5 7.517 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.517 * [backup-simplify]: Simplify phi2 into phi2 7.517 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.517 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.517 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.517 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.517 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.517 * [backup-simplify]: Simplify (- 0) into 0 7.517 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.517 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 7.517 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 7.517 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 7.517 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 7.517 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.517 * [backup-simplify]: Simplify 0.5 into 0.5 7.517 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.517 * [backup-simplify]: Simplify phi1 into phi1 7.517 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.517 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.518 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.518 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.518 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.518 * [backup-simplify]: Simplify (- 0) into 0 7.518 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.518 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.518 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.518 * [backup-simplify]: Simplify lambda2 into lambda2 7.518 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda1 7.518 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 7.518 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.518 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.518 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.518 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.518 * [backup-simplify]: Simplify 0.5 into 0.5 7.518 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.518 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.518 * [backup-simplify]: Simplify phi2 into phi2 7.518 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.518 * [backup-simplify]: Simplify phi1 into phi1 7.518 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.518 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.518 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.518 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.518 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.519 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.519 * [backup-simplify]: Simplify (- 0) into 0 7.519 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.519 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.519 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.519 * [backup-simplify]: Simplify 0 into 0 7.519 * [backup-simplify]: Simplify 1 into 1 7.519 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 7.519 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 7.519 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 7.519 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 7.519 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.519 * [backup-simplify]: Simplify 0.5 into 0.5 7.519 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.519 * [backup-simplify]: Simplify phi2 into phi2 7.519 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.519 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.519 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.519 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 7.519 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 7.519 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 7.519 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 7.519 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.519 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.519 * [backup-simplify]: Simplify lambda2 into lambda2 7.519 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 7.519 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 7.519 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 7.520 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.520 * [backup-simplify]: Simplify 0.5 into 0.5 7.520 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.520 * [backup-simplify]: Simplify phi1 into phi1 7.520 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.520 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.520 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.520 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.520 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 7.520 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 7.520 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in lambda1 7.520 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 7.520 * [taylor]: Taking taylor expansion of 2 in lambda1 7.520 * [backup-simplify]: Simplify 2 into 2 7.520 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 7.520 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.520 * [backup-simplify]: Simplify lambda2 into lambda2 7.520 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 7.520 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 7.520 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 7.520 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 7.520 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.520 * [backup-simplify]: Simplify 0.5 into 0.5 7.520 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 7.520 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.520 * [backup-simplify]: Simplify phi2 into phi2 7.520 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.520 * [backup-simplify]: Simplify phi1 into phi1 7.520 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.520 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.520 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.520 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.520 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.521 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.521 * [backup-simplify]: Simplify (- 0) into 0 7.521 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.521 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.521 * [backup-simplify]: Simplify 0 into 0 7.521 * [backup-simplify]: Simplify 1 into 1 7.521 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda1 7.521 * [taylor]: Taking taylor expansion of 2 in lambda1 7.521 * [backup-simplify]: Simplify 2 into 2 7.521 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1 7.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 7.521 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 7.521 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.521 * [backup-simplify]: Simplify 0.5 into 0.5 7.521 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.521 * [backup-simplify]: Simplify phi2 into phi2 7.521 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.521 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.521 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.521 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 7.521 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 7.521 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 7.521 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.521 * [backup-simplify]: Simplify 0.5 into 0.5 7.521 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.521 * [backup-simplify]: Simplify phi2 into phi2 7.521 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.521 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.521 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.521 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 7.522 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 7.522 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 7.522 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.522 * [backup-simplify]: Simplify 0.5 into 0.5 7.522 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.522 * [backup-simplify]: Simplify phi1 into phi1 7.522 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.522 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.522 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.522 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 7.522 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 7.522 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 7.522 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.522 * [backup-simplify]: Simplify 0.5 into 0.5 7.522 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.522 * [backup-simplify]: Simplify phi1 into phi1 7.522 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.522 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.522 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.522 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.522 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.522 * [backup-simplify]: Simplify lambda2 into lambda2 7.522 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in phi1 7.522 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi1 7.522 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 7.522 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 7.522 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 7.522 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 7.522 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.522 * [backup-simplify]: Simplify 0.5 into 0.5 7.522 * [taylor]: Taking taylor expansion of phi2 in phi1 7.522 * [backup-simplify]: Simplify phi2 into phi2 7.522 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.522 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.522 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.522 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.522 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.523 * [backup-simplify]: Simplify (- 0) into 0 7.523 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.523 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 7.523 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 7.523 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.523 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.523 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.523 * [backup-simplify]: Simplify 0.5 into 0.5 7.523 * [taylor]: Taking taylor expansion of phi1 in phi1 7.523 * [backup-simplify]: Simplify 0 into 0 7.523 * [backup-simplify]: Simplify 1 into 1 7.523 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.524 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.524 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.524 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.524 * [backup-simplify]: Simplify lambda2 into lambda2 7.524 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi1 7.524 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 7.524 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 7.524 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.524 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.524 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.524 * [backup-simplify]: Simplify 0.5 into 0.5 7.524 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.524 * [taylor]: Taking taylor expansion of phi2 in phi1 7.524 * [backup-simplify]: Simplify phi2 into phi2 7.524 * [taylor]: Taking taylor expansion of phi1 in phi1 7.524 * [backup-simplify]: Simplify 0 into 0 7.524 * [backup-simplify]: Simplify 1 into 1 7.524 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.524 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.524 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.524 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.525 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.525 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.525 * [backup-simplify]: Simplify (- 0) into 0 7.525 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.525 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.525 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.525 * [backup-simplify]: Simplify lambda1 into lambda1 7.525 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 7.525 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 7.525 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 7.525 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 7.525 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.525 * [backup-simplify]: Simplify 0.5 into 0.5 7.525 * [taylor]: Taking taylor expansion of phi2 in phi1 7.525 * [backup-simplify]: Simplify phi2 into phi2 7.525 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.525 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.525 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.525 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 7.525 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 7.525 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 7.525 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 7.525 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.525 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.525 * [backup-simplify]: Simplify lambda2 into lambda2 7.525 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 7.526 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 7.526 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.526 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.526 * [backup-simplify]: Simplify 0.5 into 0.5 7.526 * [taylor]: Taking taylor expansion of phi1 in phi1 7.526 * [backup-simplify]: Simplify 0 into 0 7.526 * [backup-simplify]: Simplify 1 into 1 7.526 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.527 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.528 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in phi1 7.528 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 7.528 * [taylor]: Taking taylor expansion of 2 in phi1 7.529 * [backup-simplify]: Simplify 2 into 2 7.529 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 7.529 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.529 * [backup-simplify]: Simplify lambda2 into lambda2 7.529 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 7.529 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 7.529 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 7.529 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 7.529 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.529 * [backup-simplify]: Simplify 0.5 into 0.5 7.529 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 7.529 * [taylor]: Taking taylor expansion of phi2 in phi1 7.529 * [backup-simplify]: Simplify phi2 into phi2 7.529 * [taylor]: Taking taylor expansion of phi1 in phi1 7.529 * [backup-simplify]: Simplify 0 into 0 7.529 * [backup-simplify]: Simplify 1 into 1 7.529 * [backup-simplify]: Simplify (+ phi2 0) into phi2 7.529 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.529 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.529 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.529 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.529 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.529 * [backup-simplify]: Simplify (- 0) into 0 7.529 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.529 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.529 * [backup-simplify]: Simplify lambda1 into lambda1 7.529 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi1 7.529 * [taylor]: Taking taylor expansion of 2 in phi1 7.529 * [backup-simplify]: Simplify 2 into 2 7.529 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1 7.529 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 7.529 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 7.529 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.530 * [backup-simplify]: Simplify 0.5 into 0.5 7.530 * [taylor]: Taking taylor expansion of phi2 in phi1 7.530 * [backup-simplify]: Simplify phi2 into phi2 7.530 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.530 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.530 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.530 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 7.530 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 7.530 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 7.530 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.530 * [backup-simplify]: Simplify 0.5 into 0.5 7.530 * [taylor]: Taking taylor expansion of phi2 in phi1 7.530 * [backup-simplify]: Simplify phi2 into phi2 7.530 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.530 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.530 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.530 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 7.530 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.530 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.530 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.530 * [backup-simplify]: Simplify 0.5 into 0.5 7.530 * [taylor]: Taking taylor expansion of phi1 in phi1 7.530 * [backup-simplify]: Simplify 0 into 0 7.530 * [backup-simplify]: Simplify 1 into 1 7.530 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.531 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.531 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 7.531 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 7.531 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.531 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.531 * [backup-simplify]: Simplify 0.5 into 0.5 7.531 * [taylor]: Taking taylor expansion of phi1 in phi1 7.531 * [backup-simplify]: Simplify 0 into 0 7.531 * [backup-simplify]: Simplify 1 into 1 7.532 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.533 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.533 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.533 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.533 * [backup-simplify]: Simplify lambda2 into lambda2 7.533 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in phi2 7.533 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi2 7.533 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 7.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 7.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 7.533 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.533 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.533 * [backup-simplify]: Simplify 0.5 into 0.5 7.533 * [taylor]: Taking taylor expansion of phi2 in phi2 7.533 * [backup-simplify]: Simplify 0 into 0 7.533 * [backup-simplify]: Simplify 1 into 1 7.533 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.534 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.534 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 7.534 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 7.534 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 7.534 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.534 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.534 * [backup-simplify]: Simplify 0.5 into 0.5 7.534 * [taylor]: Taking taylor expansion of phi1 in phi2 7.534 * [backup-simplify]: Simplify phi1 into phi1 7.534 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.534 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.534 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.534 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.534 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.535 * [backup-simplify]: Simplify (- 0) into 0 7.535 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.535 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.535 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.535 * [backup-simplify]: Simplify lambda2 into lambda2 7.535 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi2 7.535 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 7.535 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 7.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.535 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.535 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.535 * [backup-simplify]: Simplify 0.5 into 0.5 7.535 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.535 * [taylor]: Taking taylor expansion of phi2 in phi2 7.535 * [backup-simplify]: Simplify 0 into 0 7.535 * [backup-simplify]: Simplify 1 into 1 7.535 * [taylor]: Taking taylor expansion of phi1 in phi2 7.535 * [backup-simplify]: Simplify phi1 into phi1 7.535 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.535 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.535 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.535 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.535 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.535 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.535 * [backup-simplify]: Simplify (- 0) into 0 7.535 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.535 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 7.536 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.536 * [backup-simplify]: Simplify lambda1 into lambda1 7.536 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 7.536 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 7.536 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 7.536 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.536 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.536 * [backup-simplify]: Simplify 0.5 into 0.5 7.536 * [taylor]: Taking taylor expansion of phi2 in phi2 7.536 * [backup-simplify]: Simplify 0 into 0 7.536 * [backup-simplify]: Simplify 1 into 1 7.536 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.537 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.538 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.538 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 7.538 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.538 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.538 * [backup-simplify]: Simplify lambda2 into lambda2 7.538 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 7.538 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 7.538 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.538 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.538 * [backup-simplify]: Simplify 0.5 into 0.5 7.538 * [taylor]: Taking taylor expansion of phi1 in phi2 7.538 * [backup-simplify]: Simplify phi1 into phi1 7.538 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.539 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.539 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.539 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.539 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 7.539 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 7.539 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in phi2 7.539 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 7.539 * [taylor]: Taking taylor expansion of 2 in phi2 7.539 * [backup-simplify]: Simplify 2 into 2 7.539 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 7.539 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.539 * [backup-simplify]: Simplify lambda2 into lambda2 7.539 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 7.539 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 7.539 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.539 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.539 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.539 * [backup-simplify]: Simplify 0.5 into 0.5 7.539 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.539 * [taylor]: Taking taylor expansion of phi2 in phi2 7.539 * [backup-simplify]: Simplify 0 into 0 7.539 * [backup-simplify]: Simplify 1 into 1 7.539 * [taylor]: Taking taylor expansion of phi1 in phi2 7.539 * [backup-simplify]: Simplify phi1 into phi1 7.539 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.539 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.539 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.539 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.539 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.539 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.540 * [backup-simplify]: Simplify (- 0) into 0 7.540 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.540 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.540 * [backup-simplify]: Simplify lambda1 into lambda1 7.540 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi2 7.540 * [taylor]: Taking taylor expansion of 2 in phi2 7.540 * [backup-simplify]: Simplify 2 into 2 7.540 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2 7.540 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 7.540 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.540 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.540 * [backup-simplify]: Simplify 0.5 into 0.5 7.540 * [taylor]: Taking taylor expansion of phi2 in phi2 7.540 * [backup-simplify]: Simplify 0 into 0 7.540 * [backup-simplify]: Simplify 1 into 1 7.540 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.541 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.541 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 7.541 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 7.541 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.541 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.541 * [backup-simplify]: Simplify 0.5 into 0.5 7.541 * [taylor]: Taking taylor expansion of phi2 in phi2 7.541 * [backup-simplify]: Simplify 0 into 0 7.541 * [backup-simplify]: Simplify 1 into 1 7.541 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.542 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.542 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 7.542 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 7.542 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.542 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.542 * [backup-simplify]: Simplify 0.5 into 0.5 7.542 * [taylor]: Taking taylor expansion of phi1 in phi2 7.542 * [backup-simplify]: Simplify phi1 into phi1 7.542 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.543 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.543 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.543 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 7.543 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 7.543 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.543 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.543 * [backup-simplify]: Simplify 0.5 into 0.5 7.543 * [taylor]: Taking taylor expansion of phi1 in phi2 7.543 * [backup-simplify]: Simplify phi1 into phi1 7.543 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.543 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.543 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.543 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.543 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.543 * [backup-simplify]: Simplify lambda2 into lambda2 7.543 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in lambda2 7.543 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 7.543 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 7.543 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 7.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 7.543 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.543 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.543 * [backup-simplify]: Simplify 0.5 into 0.5 7.543 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.543 * [backup-simplify]: Simplify phi2 into phi2 7.543 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.543 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.543 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.543 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.543 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.544 * [backup-simplify]: Simplify (- 0) into 0 7.544 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.544 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 7.544 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 7.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 7.544 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.544 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.544 * [backup-simplify]: Simplify 0.5 into 0.5 7.544 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.544 * [backup-simplify]: Simplify phi1 into phi1 7.544 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.544 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.544 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.544 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.544 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.544 * [backup-simplify]: Simplify (- 0) into 0 7.544 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.544 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.544 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.544 * [backup-simplify]: Simplify 0 into 0 7.544 * [backup-simplify]: Simplify 1 into 1 7.544 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 7.544 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 7.544 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.545 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.545 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.545 * [backup-simplify]: Simplify 0.5 into 0.5 7.545 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.545 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.545 * [backup-simplify]: Simplify phi2 into phi2 7.545 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.545 * [backup-simplify]: Simplify phi1 into phi1 7.545 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.545 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.545 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.545 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.545 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.545 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.545 * [backup-simplify]: Simplify (- 0) into 0 7.545 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.545 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 7.545 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.545 * [backup-simplify]: Simplify lambda1 into lambda1 7.545 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 7.545 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 7.545 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 7.545 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.545 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.545 * [backup-simplify]: Simplify 0.5 into 0.5 7.545 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.546 * [backup-simplify]: Simplify phi2 into phi2 7.546 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.546 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.546 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.546 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 7.546 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 7.546 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 7.546 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 7.546 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.546 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.546 * [backup-simplify]: Simplify 0 into 0 7.546 * [backup-simplify]: Simplify 1 into 1 7.546 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 7.546 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 7.546 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.546 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.546 * [backup-simplify]: Simplify 0.5 into 0.5 7.546 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.546 * [backup-simplify]: Simplify phi1 into phi1 7.546 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.546 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.546 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.546 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.546 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 7.546 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 7.546 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in lambda2 7.546 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 7.546 * [taylor]: Taking taylor expansion of 2 in lambda2 7.546 * [backup-simplify]: Simplify 2 into 2 7.546 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 7.546 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.546 * [backup-simplify]: Simplify 0 into 0 7.546 * [backup-simplify]: Simplify 1 into 1 7.546 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 7.546 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.546 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.547 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.547 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.547 * [backup-simplify]: Simplify 0.5 into 0.5 7.547 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.547 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.547 * [backup-simplify]: Simplify phi2 into phi2 7.547 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.547 * [backup-simplify]: Simplify phi1 into phi1 7.547 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.547 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.547 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.547 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.547 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.547 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.547 * [backup-simplify]: Simplify (- 0) into 0 7.547 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.547 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.547 * [backup-simplify]: Simplify lambda1 into lambda1 7.547 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2 7.547 * [taylor]: Taking taylor expansion of 2 in lambda2 7.547 * [backup-simplify]: Simplify 2 into 2 7.547 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2 7.547 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 7.547 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.547 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.547 * [backup-simplify]: Simplify 0.5 into 0.5 7.547 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.548 * [backup-simplify]: Simplify phi2 into phi2 7.548 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.548 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.548 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.548 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 7.548 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 7.548 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.548 * [backup-simplify]: Simplify 0.5 into 0.5 7.548 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.548 * [backup-simplify]: Simplify phi2 into phi2 7.548 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.548 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.548 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.548 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 7.548 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 7.548 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.548 * [backup-simplify]: Simplify 0.5 into 0.5 7.548 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.548 * [backup-simplify]: Simplify phi1 into phi1 7.548 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.548 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.548 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.548 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 7.548 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 7.548 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.548 * [backup-simplify]: Simplify 0.5 into 0.5 7.548 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.548 * [backup-simplify]: Simplify phi1 into phi1 7.548 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.548 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.548 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.548 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.548 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.548 * [backup-simplify]: Simplify 0 into 0 7.548 * [backup-simplify]: Simplify 1 into 1 7.548 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in lambda2 7.548 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 7.549 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 7.549 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 7.549 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 7.549 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.549 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.549 * [backup-simplify]: Simplify 0.5 into 0.5 7.549 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.549 * [backup-simplify]: Simplify phi2 into phi2 7.549 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.549 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.549 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.549 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.549 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.549 * [backup-simplify]: Simplify (- 0) into 0 7.549 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.549 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 7.549 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 7.549 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 7.549 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.549 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.549 * [backup-simplify]: Simplify 0.5 into 0.5 7.549 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.549 * [backup-simplify]: Simplify phi1 into phi1 7.549 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.549 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.549 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.550 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.550 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.550 * [backup-simplify]: Simplify (- 0) into 0 7.550 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.550 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.550 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.550 * [backup-simplify]: Simplify 0 into 0 7.550 * [backup-simplify]: Simplify 1 into 1 7.550 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 7.550 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 7.550 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.550 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.550 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.550 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.550 * [backup-simplify]: Simplify 0.5 into 0.5 7.550 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.550 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.550 * [backup-simplify]: Simplify phi2 into phi2 7.550 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.550 * [backup-simplify]: Simplify phi1 into phi1 7.550 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.550 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.550 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.550 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.551 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.551 * [backup-simplify]: Simplify (- 0) into 0 7.551 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.551 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 7.551 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.551 * [backup-simplify]: Simplify lambda1 into lambda1 7.551 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 7.551 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 7.551 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 7.551 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.551 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.551 * [backup-simplify]: Simplify 0.5 into 0.5 7.551 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.551 * [backup-simplify]: Simplify phi2 into phi2 7.551 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.551 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.551 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.551 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 7.551 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 7.551 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 7.551 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 7.551 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.551 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.551 * [backup-simplify]: Simplify 0 into 0 7.551 * [backup-simplify]: Simplify 1 into 1 7.551 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 7.551 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 7.552 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.552 * [backup-simplify]: Simplify 0.5 into 0.5 7.552 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.552 * [backup-simplify]: Simplify phi1 into phi1 7.552 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.552 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.552 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.552 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.552 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 7.552 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 7.552 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in lambda2 7.552 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 7.552 * [taylor]: Taking taylor expansion of 2 in lambda2 7.552 * [backup-simplify]: Simplify 2 into 2 7.552 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 7.552 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.552 * [backup-simplify]: Simplify 0 into 0 7.552 * [backup-simplify]: Simplify 1 into 1 7.552 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 7.552 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 7.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 7.552 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 7.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.552 * [backup-simplify]: Simplify 0.5 into 0.5 7.552 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 7.552 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.552 * [backup-simplify]: Simplify phi2 into phi2 7.552 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.552 * [backup-simplify]: Simplify phi1 into phi1 7.552 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 7.552 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 7.552 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 7.552 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 7.552 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 7.553 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 7.553 * [backup-simplify]: Simplify (- 0) into 0 7.553 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 7.553 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.553 * [backup-simplify]: Simplify lambda1 into lambda1 7.553 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2 7.553 * [taylor]: Taking taylor expansion of 2 in lambda2 7.553 * [backup-simplify]: Simplify 2 into 2 7.553 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2 7.553 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 7.553 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.553 * [backup-simplify]: Simplify 0.5 into 0.5 7.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.553 * [backup-simplify]: Simplify phi2 into phi2 7.553 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.553 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.553 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.553 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 7.553 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 7.553 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 7.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.553 * [backup-simplify]: Simplify 0.5 into 0.5 7.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.553 * [backup-simplify]: Simplify phi2 into phi2 7.553 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 7.553 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 7.553 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 7.553 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 7.553 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 7.554 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.554 * [backup-simplify]: Simplify 0.5 into 0.5 7.554 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.554 * [backup-simplify]: Simplify phi1 into phi1 7.554 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.554 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.554 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.554 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 7.554 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 7.554 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 7.554 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.554 * [backup-simplify]: Simplify 0.5 into 0.5 7.554 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.554 * [backup-simplify]: Simplify phi1 into phi1 7.554 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.554 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.554 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.554 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.554 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.554 * [backup-simplify]: Simplify 0 into 0 7.554 * [backup-simplify]: Simplify 1 into 1 7.554 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.554 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.554 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 7.555 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 7.555 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 7.555 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 7.555 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 7.555 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 7.556 * [backup-simplify]: Simplify (* 2 0) into 0 7.556 * [backup-simplify]: Simplify (+ 0 0) into 0 7.556 * [backup-simplify]: Simplify (- 0) into 0 7.556 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 7.556 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 7.556 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 7.556 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.556 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.556 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.556 * [backup-simplify]: Simplify 0.5 into 0.5 7.556 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.556 * [taylor]: Taking taylor expansion of phi2 in phi2 7.556 * [backup-simplify]: Simplify 0 into 0 7.556 * [backup-simplify]: Simplify 1 into 1 7.556 * [taylor]: Taking taylor expansion of phi1 in phi2 7.557 * [backup-simplify]: Simplify phi1 into phi1 7.557 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.557 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.557 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.557 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.557 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.557 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.557 * [backup-simplify]: Simplify (- 0) into 0 7.557 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.557 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 7.557 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.557 * [backup-simplify]: Simplify lambda1 into lambda1 7.557 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 7.557 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.557 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 7.557 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 7.557 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 7.557 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.558 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.558 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.558 * [backup-simplify]: Simplify 0.5 into 0.5 7.558 * [taylor]: Taking taylor expansion of phi1 in phi1 7.558 * [backup-simplify]: Simplify 0 into 0 7.558 * [backup-simplify]: Simplify 1 into 1 7.558 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.559 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.559 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.559 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.559 * [backup-simplify]: Simplify lambda1 into lambda1 7.559 * [backup-simplify]: Simplify (* 1 1) into 1 7.559 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.559 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 7.559 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.559 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.559 * [backup-simplify]: Simplify 0 into 0 7.559 * [backup-simplify]: Simplify 1 into 1 7.559 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 7.560 * [backup-simplify]: Simplify (+ 0) into 0 7.560 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.560 * [backup-simplify]: Simplify (+ 0 0) into 0 7.560 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.561 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.561 * [backup-simplify]: Simplify (- 0) into 0 7.562 * [backup-simplify]: Simplify (+ 0 0) into 0 7.562 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.562 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 7.562 * [backup-simplify]: Simplify (+ 0 0) into 0 7.563 * [backup-simplify]: Simplify (+ 0 0) into 0 7.563 * [backup-simplify]: Simplify (+ 0) into 0 7.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 7.563 * [backup-simplify]: Simplify (+ 0 0) into 0 7.564 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 7.564 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.564 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 7.565 * [backup-simplify]: Simplify (- 0) into 0 7.565 * [backup-simplify]: Simplify (+ 0 0) into 0 7.565 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 7.565 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 7.566 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 7.566 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 7.566 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 0) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 7.566 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 7.567 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 7.567 * [taylor]: Taking taylor expansion of (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 7.567 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 7.567 * [taylor]: Taking taylor expansion of 2 in phi2 7.567 * [backup-simplify]: Simplify 2 into 2 7.567 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 7.567 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 7.567 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 7.567 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 7.567 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.567 * [backup-simplify]: Simplify 0.5 into 0.5 7.567 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 7.567 * [taylor]: Taking taylor expansion of phi2 in phi2 7.567 * [backup-simplify]: Simplify 0 into 0 7.567 * [backup-simplify]: Simplify 1 into 1 7.567 * [taylor]: Taking taylor expansion of phi1 in phi2 7.567 * [backup-simplify]: Simplify phi1 into phi1 7.567 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 7.567 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.567 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.567 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.567 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.567 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.568 * [backup-simplify]: Simplify (- 0) into 0 7.568 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.568 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.568 * [backup-simplify]: Simplify lambda1 into lambda1 7.568 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 7.568 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 7.568 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) 7.568 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) 7.568 * [taylor]: Taking taylor expansion of (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) in phi1 7.568 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) in phi1 7.568 * [taylor]: Taking taylor expansion of 2 in phi1 7.568 * [backup-simplify]: Simplify 2 into 2 7.568 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1 7.568 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 7.568 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.568 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.568 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.568 * [backup-simplify]: Simplify 0.5 into 0.5 7.568 * [taylor]: Taking taylor expansion of phi1 in phi1 7.568 * [backup-simplify]: Simplify 0 into 0 7.568 * [backup-simplify]: Simplify 1 into 1 7.569 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.569 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.569 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.570 * [backup-simplify]: Simplify lambda1 into lambda1 7.570 * [backup-simplify]: Simplify (* 1 1) into 1 7.570 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1 7.570 * [backup-simplify]: Simplify (* 2 lambda1) into (* 2 lambda1) 7.570 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 7.570 * [taylor]: Taking taylor expansion of (- (* 2 lambda1)) in lambda1 7.570 * [taylor]: Taking taylor expansion of (* 2 lambda1) in lambda1 7.570 * [taylor]: Taking taylor expansion of 2 in lambda1 7.570 * [backup-simplify]: Simplify 2 into 2 7.570 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.570 * [backup-simplify]: Simplify 0 into 0 7.570 * [backup-simplify]: Simplify 1 into 1 7.570 * [backup-simplify]: Simplify (* 2 0) into 0 7.570 * [backup-simplify]: Simplify (- 0) into 0 7.571 * [backup-simplify]: Simplify 0 into 0 7.571 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 7.571 * [backup-simplify]: Simplify (+ 0) into 0 7.571 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 7.571 * [backup-simplify]: Simplify (+ 1 0) into 1 7.572 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 7.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.574 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 7.574 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.574 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.574 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 7.574 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 7.575 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1 7.575 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 7.575 * [taylor]: Taking taylor expansion of 1.0 in phi1 7.575 * [backup-simplify]: Simplify 1.0 into 1.0 7.575 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 7.575 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.575 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.575 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.575 * [backup-simplify]: Simplify 0.5 into 0.5 7.575 * [taylor]: Taking taylor expansion of phi1 in phi1 7.575 * [backup-simplify]: Simplify 0 into 0 7.575 * [backup-simplify]: Simplify 1 into 1 7.575 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.576 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.576 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 7.576 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 7.576 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.576 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.576 * [backup-simplify]: Simplify 0.5 into 0.5 7.576 * [taylor]: Taking taylor expansion of phi1 in phi1 7.576 * [backup-simplify]: Simplify 0 into 0 7.576 * [backup-simplify]: Simplify 1 into 1 7.576 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.581 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.581 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.581 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.581 * [backup-simplify]: Simplify lambda1 into lambda1 7.581 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.581 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 7.581 * [backup-simplify]: Simplify (* 1 0) into 0 7.582 * [backup-simplify]: Simplify (* 1.0 0) into 0 7.582 * [backup-simplify]: Simplify (- 0) into 0 7.582 * [taylor]: Taking taylor expansion of 0 in lambda1 7.582 * [backup-simplify]: Simplify 0 into 0 7.582 * [backup-simplify]: Simplify 0 into 0 7.582 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 7.582 * [backup-simplify]: Simplify (+ 0) into 0 7.583 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.583 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 7.583 * [taylor]: Taking taylor expansion of 0 in lambda1 7.583 * [backup-simplify]: Simplify 0 into 0 7.583 * [backup-simplify]: Simplify 0 into 0 7.583 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 7.583 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 7.583 * [backup-simplify]: Simplify (* 1 1) into 1 7.584 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) 1) into (pow (cos (* 0.5 phi1)) 2) 7.584 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) 7.584 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 7.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.585 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 7.585 * [backup-simplify]: Simplify (+ 0 0) into 0 7.586 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 7.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.587 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 7.587 * [backup-simplify]: Simplify (- 0) into 0 7.587 * [backup-simplify]: Simplify (+ 0 0) into 0 7.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 7.588 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0 7.588 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 7.588 * [backup-simplify]: Simplify (* 1 1) into 1 7.588 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 7.588 * [backup-simplify]: Simplify (* 1 (pow (sin (* 0.5 phi1)) 2)) into (pow (sin (* 0.5 phi1)) 2) 7.589 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) 7.589 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) 7.589 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) 7.590 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.590 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 7.591 * [backup-simplify]: Simplify (+ 0 0) into 0 7.591 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 7.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.592 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 7.592 * [backup-simplify]: Simplify (- 0) into 0 7.592 * [backup-simplify]: Simplify (+ 0 0) into 0 7.593 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 7.593 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0 7.594 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0 7.594 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0 7.594 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 7.595 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 7.595 * [backup-simplify]: Simplify (- 0) into 0 7.595 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 7.595 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 7.595 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 7.595 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 7.595 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.595 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.595 * [backup-simplify]: Simplify (- 0) into 0 7.595 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.595 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.596 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 7.596 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 7.596 * [backup-simplify]: Simplify (* 1 1) into 1 7.596 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.596 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) 7.596 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 7.596 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 7.596 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 7.597 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 7.597 * [backup-simplify]: Simplify (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 7.598 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 7.598 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) in phi2 7.598 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 7.598 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2 7.598 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 7.598 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 7.598 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.598 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.598 * [backup-simplify]: Simplify 0.5 into 0.5 7.598 * [taylor]: Taking taylor expansion of phi2 in phi2 7.598 * [backup-simplify]: Simplify 0 into 0 7.598 * [backup-simplify]: Simplify 1 into 1 7.598 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.599 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.599 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 7.599 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 7.599 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.599 * [backup-simplify]: Simplify 0.5 into 0.5 7.599 * [taylor]: Taking taylor expansion of phi1 in phi2 7.599 * [backup-simplify]: Simplify phi1 into phi1 7.599 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.599 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.599 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.599 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.599 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.600 * [backup-simplify]: Simplify (- 0) into 0 7.600 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.600 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 7.600 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 7.600 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 7.600 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.600 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.600 * [backup-simplify]: Simplify 0.5 into 0.5 7.600 * [taylor]: Taking taylor expansion of phi2 in phi2 7.600 * [backup-simplify]: Simplify 0 into 0 7.600 * [backup-simplify]: Simplify 1 into 1 7.600 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.601 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.602 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 7.602 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 7.602 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.602 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.603 * [backup-simplify]: Simplify 0.5 into 0.5 7.603 * [taylor]: Taking taylor expansion of phi1 in phi2 7.603 * [backup-simplify]: Simplify phi1 into phi1 7.603 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.603 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.603 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.603 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.603 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 7.603 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 7.603 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) in phi2 7.603 * [taylor]: Taking taylor expansion of 2 in phi2 7.603 * [backup-simplify]: Simplify 2 into 2 7.603 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi2 7.603 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 7.603 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.603 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.603 * [backup-simplify]: Simplify 0.5 into 0.5 7.603 * [taylor]: Taking taylor expansion of phi2 in phi2 7.603 * [backup-simplify]: Simplify 0 into 0 7.603 * [backup-simplify]: Simplify 1 into 1 7.603 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.604 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.604 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi2 7.604 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 7.604 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 7.604 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.604 * [backup-simplify]: Simplify 0.5 into 0.5 7.604 * [taylor]: Taking taylor expansion of phi2 in phi2 7.604 * [backup-simplify]: Simplify 0 into 0 7.604 * [backup-simplify]: Simplify 1 into 1 7.605 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.605 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.605 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi2 7.605 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 7.605 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.605 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.606 * [backup-simplify]: Simplify 0.5 into 0.5 7.606 * [taylor]: Taking taylor expansion of phi1 in phi2 7.606 * [backup-simplify]: Simplify phi1 into phi1 7.606 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.606 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.606 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.606 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 7.606 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 7.606 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.606 * [backup-simplify]: Simplify 0.5 into 0.5 7.606 * [taylor]: Taking taylor expansion of phi1 in phi2 7.606 * [backup-simplify]: Simplify phi1 into phi1 7.606 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 7.606 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 7.606 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 7.606 * [backup-simplify]: Simplify (* 1 1) into 1 7.606 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 7.606 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 2) 7.607 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2) 7.607 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 7.607 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 7.607 * [backup-simplify]: Simplify (- 0) into 0 7.607 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 7.607 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 7.607 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 7.607 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 7.607 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) 7.607 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into 0 7.608 * [backup-simplify]: Simplify (* 1 0) into 0 7.608 * [backup-simplify]: Simplify (* 2 0) into 0 7.608 * [backup-simplify]: Simplify (- 0) into 0 7.608 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2) 7.608 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 7.608 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.608 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.608 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.608 * [backup-simplify]: Simplify 0.5 into 0.5 7.608 * [taylor]: Taking taylor expansion of phi1 in phi1 7.608 * [backup-simplify]: Simplify 0 into 0 7.608 * [backup-simplify]: Simplify 1 into 1 7.609 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.609 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.610 * [backup-simplify]: Simplify (* 1 1) into 1 7.610 * [taylor]: Taking taylor expansion of 1 in lambda1 7.610 * [backup-simplify]: Simplify 1 into 1 7.610 * [backup-simplify]: Simplify 1 into 1 7.610 * [backup-simplify]: Simplify (+ 0) into 0 7.610 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 7.611 * [backup-simplify]: Simplify (+ 1 0) into 1 7.611 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 7.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.613 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 7.613 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.613 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 7.613 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 7.613 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 7.614 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 7.614 * [backup-simplify]: Simplify (- (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) into (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))) 7.614 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))) in phi1 7.614 * [taylor]: Taking taylor expansion of 2.0 in phi1 7.614 * [backup-simplify]: Simplify 2.0 into 2.0 7.614 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1 7.614 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.614 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.614 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.614 * [backup-simplify]: Simplify 0.5 into 0.5 7.614 * [taylor]: Taking taylor expansion of phi1 in phi1 7.614 * [backup-simplify]: Simplify 0 into 0 7.614 * [backup-simplify]: Simplify 1 into 1 7.614 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.615 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.615 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1 7.615 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 7.615 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.615 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.615 * [backup-simplify]: Simplify 0.5 into 0.5 7.615 * [taylor]: Taking taylor expansion of phi1 in phi1 7.615 * [backup-simplify]: Simplify 0 into 0 7.615 * [backup-simplify]: Simplify 1 into 1 7.615 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.616 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.616 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.616 * [backup-simplify]: Simplify lambda1 into lambda1 7.616 * [backup-simplify]: Simplify (* 0 lambda1) into 0 7.617 * [backup-simplify]: Simplify (* 1 0) into 0 7.617 * [backup-simplify]: Simplify (* 2.0 0) into 0 7.617 * [taylor]: Taking taylor expansion of 0 in lambda1 7.617 * [backup-simplify]: Simplify 0 into 0 7.617 * [backup-simplify]: Simplify 0 into 0 7.617 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 7.619 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 7.620 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 7.620 * [backup-simplify]: Simplify (+ 0 0) into 0 7.620 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 7.621 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.621 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 7.621 * [backup-simplify]: Simplify (- 0) into 0 7.622 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 7.622 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 7.623 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 7.623 * [taylor]: Taking taylor expansion of (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1 7.623 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 7.623 * [taylor]: Taking taylor expansion of 0.25 in phi1 7.623 * [backup-simplify]: Simplify 0.25 into 0.25 7.623 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 7.623 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 7.623 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 7.623 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.623 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.623 * [backup-simplify]: Simplify 0.5 into 0.5 7.623 * [taylor]: Taking taylor expansion of phi1 in phi1 7.623 * [backup-simplify]: Simplify 0 into 0 7.623 * [backup-simplify]: Simplify 1 into 1 7.623 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.624 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.625 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.626 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.626 * [backup-simplify]: Simplify lambda1 into lambda1 7.626 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 7.626 * [taylor]: Taking taylor expansion of 0.25 in phi1 7.626 * [backup-simplify]: Simplify 0.25 into 0.25 7.626 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 7.626 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 7.626 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 7.626 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 7.626 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.626 * [backup-simplify]: Simplify 0.5 into 0.5 7.626 * [taylor]: Taking taylor expansion of phi1 in phi1 7.626 * [backup-simplify]: Simplify 0 into 0 7.626 * [backup-simplify]: Simplify 1 into 1 7.626 * [backup-simplify]: Simplify (* 0.5 0) into 0 7.627 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 7.627 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.627 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.627 * [backup-simplify]: Simplify lambda1 into lambda1 7.627 * [backup-simplify]: Simplify (* 1 1) into 1 7.627 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.628 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 7.628 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 7.628 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2))) 7.628 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 7.628 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1 7.628 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 7.628 * [taylor]: Taking taylor expansion of 0.25 in lambda1 7.628 * [backup-simplify]: Simplify 0.25 into 0.25 7.628 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.628 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.628 * [backup-simplify]: Simplify 0 into 0 7.628 * [backup-simplify]: Simplify 1 into 1 7.628 * [backup-simplify]: Simplify (+ 0) into 0 7.629 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.629 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0 7.629 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 lambda1)) into 0 7.630 * [backup-simplify]: Simplify (- 0) into 0 7.630 * [taylor]: Taking taylor expansion of 0 in lambda1 7.630 * [backup-simplify]: Simplify 0 into 0 7.630 * [backup-simplify]: Simplify 0 into 0 7.630 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 7.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 7.632 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 7.632 * [backup-simplify]: Simplify (+ 0) into 0 7.632 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 7.633 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 7.633 * [backup-simplify]: Simplify (- (* 0.5 (pow lambda1 2))) into (- (* 0.5 (pow lambda1 2))) 7.633 * [taylor]: Taking taylor expansion of (- (* 0.5 (pow lambda1 2))) in lambda1 7.633 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda1 2)) in lambda1 7.633 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.633 * [backup-simplify]: Simplify 0.5 into 0.5 7.633 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.633 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.633 * [backup-simplify]: Simplify 0 into 0 7.633 * [backup-simplify]: Simplify 1 into 1 7.634 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 7.635 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 7.638 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 7.639 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 7.639 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1 7.639 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 7.639 * [taylor]: Taking taylor expansion of 0.25 in lambda1 7.639 * [backup-simplify]: Simplify 0.25 into 0.25 7.639 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.639 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.639 * [backup-simplify]: Simplify 0 into 0 7.639 * [backup-simplify]: Simplify 1 into 1 7.639 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 7.640 * [backup-simplify]: Simplify (- 2) into -2 7.640 * [backup-simplify]: Simplify -2 into -2 7.640 * [backup-simplify]: Simplify 0 into 0 7.640 * [backup-simplify]: Simplify 0 into 0 7.640 * [backup-simplify]: Simplify (* 1 1) into 1 7.640 * [backup-simplify]: Simplify 1 into 1 7.641 * [backup-simplify]: Simplify (+ (* 1 (pow (* lambda1 (* 1 (* 1 1))) 2)) (+ (* -2 (* lambda1 (* 1 (* 1 lambda2)))) (* 1 (pow (* 1 (* 1 (* 1 lambda2))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 7.643 * [backup-simplify]: Simplify (- (+ (* (pow (/ 1 lambda2) 2) (pow (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5)))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 7.643 * [approximate]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in (lambda2 phi2 phi1 lambda1) around 0 7.643 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda1 7.643 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 7.643 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 7.643 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.643 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.643 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.643 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.643 * [backup-simplify]: Simplify 0.5 into 0.5 7.643 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.643 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.643 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.643 * [backup-simplify]: Simplify phi1 into phi1 7.643 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.643 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.643 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.643 * [backup-simplify]: Simplify phi2 into phi2 7.643 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.643 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.643 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.643 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.644 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.644 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.644 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.644 * [backup-simplify]: Simplify (- 0) into 0 7.644 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.644 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.644 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.644 * [backup-simplify]: Simplify 0 into 0 7.644 * [backup-simplify]: Simplify 1 into 1 7.645 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.645 * [backup-simplify]: Simplify (* 1 1) into 1 7.645 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.645 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 7.645 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 7.645 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 7.645 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 7.645 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 7.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.645 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.645 * [backup-simplify]: Simplify 0.5 into 0.5 7.645 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.645 * [backup-simplify]: Simplify phi1 into phi1 7.645 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.645 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.645 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.646 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.646 * [backup-simplify]: Simplify (- 0) into 0 7.646 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.646 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 7.646 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 7.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.646 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.646 * [backup-simplify]: Simplify 0.5 into 0.5 7.646 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.646 * [backup-simplify]: Simplify phi2 into phi2 7.646 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.646 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.646 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.646 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.647 * [backup-simplify]: Simplify (- 0) into 0 7.647 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.647 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.647 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.647 * [backup-simplify]: Simplify lambda2 into lambda2 7.647 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.647 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.647 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.647 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.647 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 7.647 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 7.647 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 7.647 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 7.647 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 7.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.647 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.648 * [backup-simplify]: Simplify 0.5 into 0.5 7.648 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.648 * [backup-simplify]: Simplify phi1 into phi1 7.648 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.648 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.648 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.648 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.648 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 7.648 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 7.648 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.648 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.648 * [backup-simplify]: Simplify 0.5 into 0.5 7.648 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.648 * [backup-simplify]: Simplify phi2 into phi2 7.648 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.648 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.648 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.648 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.648 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.648 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.648 * [backup-simplify]: Simplify lambda2 into lambda2 7.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.649 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.649 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.649 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 7.649 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda1 7.649 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 7.649 * [taylor]: Taking taylor expansion of 2 in lambda1 7.649 * [backup-simplify]: Simplify 2 into 2 7.649 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 7.649 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.649 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.649 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.649 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.649 * [backup-simplify]: Simplify 0.5 into 0.5 7.649 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.649 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.649 * [backup-simplify]: Simplify phi1 into phi1 7.649 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.649 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.649 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.649 * [backup-simplify]: Simplify phi2 into phi2 7.649 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.649 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.650 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.650 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.650 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.650 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.650 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.650 * [backup-simplify]: Simplify (- 0) into 0 7.650 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.650 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 7.650 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.651 * [backup-simplify]: Simplify lambda2 into lambda2 7.651 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.651 * [backup-simplify]: Simplify 0 into 0 7.651 * [backup-simplify]: Simplify 1 into 1 7.651 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.651 * [backup-simplify]: Simplify (* lambda2 0) into 0 7.651 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 7.651 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 7.651 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1 7.651 * [taylor]: Taking taylor expansion of 2 in lambda1 7.651 * [backup-simplify]: Simplify 2 into 2 7.651 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1 7.651 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 7.651 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 7.651 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.651 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.651 * [backup-simplify]: Simplify 0.5 into 0.5 7.651 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.651 * [backup-simplify]: Simplify phi1 into phi1 7.652 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.652 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 7.652 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 7.652 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.652 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.652 * [backup-simplify]: Simplify 0.5 into 0.5 7.652 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.652 * [backup-simplify]: Simplify phi1 into phi1 7.652 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.652 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 7.652 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 7.652 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.652 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.652 * [backup-simplify]: Simplify 0.5 into 0.5 7.652 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.652 * [backup-simplify]: Simplify phi2 into phi2 7.652 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.652 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 7.652 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.652 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.652 * [backup-simplify]: Simplify 0.5 into 0.5 7.652 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.652 * [backup-simplify]: Simplify phi2 into phi2 7.652 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.652 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.652 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.652 * [backup-simplify]: Simplify lambda2 into lambda2 7.652 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.653 * [backup-simplify]: Simplify (- 0) into 0 7.653 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.653 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.653 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.653 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.653 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.653 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.654 * [backup-simplify]: Simplify (- 0) into 0 7.654 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.654 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.654 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.654 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.654 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.654 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 7.654 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1 7.655 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 7.655 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 7.655 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.655 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.655 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.655 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.655 * [backup-simplify]: Simplify 0.5 into 0.5 7.655 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.655 * [taylor]: Taking taylor expansion of phi1 in phi1 7.655 * [backup-simplify]: Simplify 0 into 0 7.655 * [backup-simplify]: Simplify 1 into 1 7.655 * [backup-simplify]: Simplify (/ 1 1) into 1 7.655 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.655 * [taylor]: Taking taylor expansion of phi2 in phi1 7.655 * [backup-simplify]: Simplify phi2 into phi2 7.655 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.655 * [backup-simplify]: Simplify (+ 1 0) into 1 7.656 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.656 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.656 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.656 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.656 * [backup-simplify]: Simplify lambda1 into lambda1 7.656 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.656 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.656 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.656 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 7.656 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 7.656 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 7.656 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 7.656 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 7.656 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.656 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.656 * [backup-simplify]: Simplify 0.5 into 0.5 7.656 * [taylor]: Taking taylor expansion of phi1 in phi1 7.656 * [backup-simplify]: Simplify 0 into 0 7.656 * [backup-simplify]: Simplify 1 into 1 7.657 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.657 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.657 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 7.657 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 7.657 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.657 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.657 * [backup-simplify]: Simplify 0.5 into 0.5 7.657 * [taylor]: Taking taylor expansion of phi2 in phi1 7.657 * [backup-simplify]: Simplify phi2 into phi2 7.657 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.657 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.657 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.657 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.657 * [backup-simplify]: Simplify (- 0) into 0 7.658 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.658 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.658 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.658 * [backup-simplify]: Simplify lambda2 into lambda2 7.658 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.658 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.658 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.658 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.658 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 7.658 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 7.658 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 7.658 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 7.658 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 7.658 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.658 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.658 * [backup-simplify]: Simplify 0.5 into 0.5 7.658 * [taylor]: Taking taylor expansion of phi1 in phi1 7.659 * [backup-simplify]: Simplify 0 into 0 7.659 * [backup-simplify]: Simplify 1 into 1 7.659 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.659 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.659 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 7.659 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 7.659 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.659 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.659 * [backup-simplify]: Simplify 0.5 into 0.5 7.659 * [taylor]: Taking taylor expansion of phi2 in phi1 7.659 * [backup-simplify]: Simplify phi2 into phi2 7.659 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.659 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.659 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.659 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.659 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.659 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.659 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.659 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.659 * [backup-simplify]: Simplify lambda2 into lambda2 7.660 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.660 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.660 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.660 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.660 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 7.660 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1 7.660 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 7.660 * [taylor]: Taking taylor expansion of 2 in phi1 7.661 * [backup-simplify]: Simplify 2 into 2 7.661 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 7.661 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.661 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.661 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.661 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.661 * [backup-simplify]: Simplify 0.5 into 0.5 7.661 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.661 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.661 * [taylor]: Taking taylor expansion of phi1 in phi1 7.661 * [backup-simplify]: Simplify 0 into 0 7.661 * [backup-simplify]: Simplify 1 into 1 7.661 * [backup-simplify]: Simplify (/ 1 1) into 1 7.661 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.661 * [taylor]: Taking taylor expansion of phi2 in phi1 7.661 * [backup-simplify]: Simplify phi2 into phi2 7.661 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.662 * [backup-simplify]: Simplify (+ 1 0) into 1 7.662 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.662 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.662 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 7.662 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.662 * [backup-simplify]: Simplify lambda2 into lambda2 7.662 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.662 * [backup-simplify]: Simplify lambda1 into lambda1 7.662 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.662 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 7.663 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 7.663 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1 7.663 * [taylor]: Taking taylor expansion of 2 in phi1 7.663 * [backup-simplify]: Simplify 2 into 2 7.663 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1 7.663 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 7.663 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 7.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.663 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.663 * [backup-simplify]: Simplify 0.5 into 0.5 7.663 * [taylor]: Taking taylor expansion of phi1 in phi1 7.663 * [backup-simplify]: Simplify 0 into 0 7.663 * [backup-simplify]: Simplify 1 into 1 7.663 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.663 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 7.663 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 7.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.663 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.663 * [backup-simplify]: Simplify 0.5 into 0.5 7.663 * [taylor]: Taking taylor expansion of phi1 in phi1 7.663 * [backup-simplify]: Simplify 0 into 0 7.663 * [backup-simplify]: Simplify 1 into 1 7.664 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.664 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.664 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 7.664 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 7.664 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.664 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.664 * [backup-simplify]: Simplify 0.5 into 0.5 7.664 * [taylor]: Taking taylor expansion of phi2 in phi1 7.664 * [backup-simplify]: Simplify phi2 into phi2 7.664 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.664 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.664 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.664 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 7.664 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.664 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.664 * [backup-simplify]: Simplify 0.5 into 0.5 7.664 * [taylor]: Taking taylor expansion of phi2 in phi1 7.664 * [backup-simplify]: Simplify phi2 into phi2 7.664 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.664 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.664 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.664 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.665 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.665 * [backup-simplify]: Simplify lambda2 into lambda2 7.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.665 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.665 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.665 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.665 * [backup-simplify]: Simplify (- 0) into 0 7.665 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.666 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.666 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.666 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 7.666 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2 7.666 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 7.666 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 7.666 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 7.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.666 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.666 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.666 * [backup-simplify]: Simplify 0.5 into 0.5 7.666 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.666 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.666 * [taylor]: Taking taylor expansion of phi1 in phi2 7.666 * [backup-simplify]: Simplify phi1 into phi1 7.666 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.666 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.666 * [taylor]: Taking taylor expansion of phi2 in phi2 7.666 * [backup-simplify]: Simplify 0 into 0 7.666 * [backup-simplify]: Simplify 1 into 1 7.667 * [backup-simplify]: Simplify (/ 1 1) into 1 7.667 * [backup-simplify]: Simplify (+ 0 1) into 1 7.667 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.667 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.667 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 7.667 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.667 * [backup-simplify]: Simplify lambda1 into lambda1 7.668 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.668 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.668 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.668 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 7.668 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 7.668 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 7.668 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 7.668 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 7.668 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.668 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.668 * [backup-simplify]: Simplify 0.5 into 0.5 7.668 * [taylor]: Taking taylor expansion of phi1 in phi2 7.668 * [backup-simplify]: Simplify phi1 into phi1 7.668 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.668 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.668 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.669 * [backup-simplify]: Simplify (- 0) into 0 7.669 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.669 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 7.669 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 7.669 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.669 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.669 * [backup-simplify]: Simplify 0.5 into 0.5 7.669 * [taylor]: Taking taylor expansion of phi2 in phi2 7.669 * [backup-simplify]: Simplify 0 into 0 7.669 * [backup-simplify]: Simplify 1 into 1 7.669 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.669 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.669 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.669 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.669 * [backup-simplify]: Simplify lambda2 into lambda2 7.669 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.669 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.670 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.670 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.670 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 7.670 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 7.670 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 7.670 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 7.670 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 7.670 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.670 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.670 * [backup-simplify]: Simplify 0.5 into 0.5 7.670 * [taylor]: Taking taylor expansion of phi1 in phi2 7.670 * [backup-simplify]: Simplify phi1 into phi1 7.670 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.670 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.670 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.670 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.670 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.670 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.670 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 7.670 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 7.670 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.670 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.670 * [backup-simplify]: Simplify 0.5 into 0.5 7.670 * [taylor]: Taking taylor expansion of phi2 in phi2 7.670 * [backup-simplify]: Simplify 0 into 0 7.671 * [backup-simplify]: Simplify 1 into 1 7.671 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.671 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.671 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.671 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.671 * [backup-simplify]: Simplify lambda2 into lambda2 7.671 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.671 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.671 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.671 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.672 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 7.672 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2 7.672 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 7.672 * [taylor]: Taking taylor expansion of 2 in phi2 7.672 * [backup-simplify]: Simplify 2 into 2 7.672 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 7.672 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 7.672 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.672 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.672 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.672 * [backup-simplify]: Simplify 0.5 into 0.5 7.672 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.672 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.672 * [taylor]: Taking taylor expansion of phi1 in phi2 7.672 * [backup-simplify]: Simplify phi1 into phi1 7.672 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.672 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.672 * [taylor]: Taking taylor expansion of phi2 in phi2 7.672 * [backup-simplify]: Simplify 0 into 0 7.672 * [backup-simplify]: Simplify 1 into 1 7.672 * [backup-simplify]: Simplify (/ 1 1) into 1 7.673 * [backup-simplify]: Simplify (+ 0 1) into 1 7.673 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.673 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.673 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 7.673 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.673 * [backup-simplify]: Simplify lambda2 into lambda2 7.673 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.673 * [backup-simplify]: Simplify lambda1 into lambda1 7.673 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.673 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 7.673 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 7.673 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2 7.673 * [taylor]: Taking taylor expansion of 2 in phi2 7.673 * [backup-simplify]: Simplify 2 into 2 7.673 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2 7.674 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 7.674 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 7.674 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.674 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.674 * [backup-simplify]: Simplify 0.5 into 0.5 7.674 * [taylor]: Taking taylor expansion of phi1 in phi2 7.674 * [backup-simplify]: Simplify phi1 into phi1 7.674 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.674 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.674 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.674 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 7.674 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 7.674 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.674 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.674 * [backup-simplify]: Simplify 0.5 into 0.5 7.674 * [taylor]: Taking taylor expansion of phi1 in phi2 7.674 * [backup-simplify]: Simplify phi1 into phi1 7.674 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.674 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.674 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.674 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 7.674 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 7.674 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.674 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.674 * [backup-simplify]: Simplify 0.5 into 0.5 7.674 * [taylor]: Taking taylor expansion of phi2 in phi2 7.674 * [backup-simplify]: Simplify 0 into 0 7.674 * [backup-simplify]: Simplify 1 into 1 7.674 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.675 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.675 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 7.675 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.675 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.675 * [backup-simplify]: Simplify 0.5 into 0.5 7.675 * [taylor]: Taking taylor expansion of phi2 in phi2 7.675 * [backup-simplify]: Simplify 0 into 0 7.675 * [backup-simplify]: Simplify 1 into 1 7.675 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.675 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.675 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.675 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.675 * [backup-simplify]: Simplify lambda2 into lambda2 7.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.675 * [backup-simplify]: Simplify (- 0) into 0 7.675 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.676 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.676 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.676 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.676 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.676 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 7.676 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 7.676 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 7.676 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 7.676 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.676 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.676 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.676 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.677 * [backup-simplify]: Simplify 0.5 into 0.5 7.677 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.677 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.677 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.677 * [backup-simplify]: Simplify phi1 into phi1 7.677 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.677 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.677 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.677 * [backup-simplify]: Simplify phi2 into phi2 7.677 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.677 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.677 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.677 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.677 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.677 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.677 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.678 * [backup-simplify]: Simplify (- 0) into 0 7.678 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.678 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 7.678 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.678 * [backup-simplify]: Simplify lambda1 into lambda1 7.678 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.678 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.678 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.678 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 7.678 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 7.678 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 7.678 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 7.679 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 7.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.679 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.679 * [backup-simplify]: Simplify 0.5 into 0.5 7.679 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.679 * [backup-simplify]: Simplify phi1 into phi1 7.679 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.679 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.679 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.679 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.679 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.679 * [backup-simplify]: Simplify (- 0) into 0 7.679 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.679 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 7.679 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 7.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.679 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.679 * [backup-simplify]: Simplify 0.5 into 0.5 7.679 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.679 * [backup-simplify]: Simplify phi2 into phi2 7.679 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.679 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.679 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.680 * [backup-simplify]: Simplify (- 0) into 0 7.680 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.680 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.680 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.680 * [backup-simplify]: Simplify 0 into 0 7.680 * [backup-simplify]: Simplify 1 into 1 7.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.680 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.681 * [backup-simplify]: Simplify (* 1 1) into 1 7.681 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.681 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 7.681 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 7.681 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 7.681 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 7.681 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.681 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.681 * [backup-simplify]: Simplify 0.5 into 0.5 7.681 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.681 * [backup-simplify]: Simplify phi1 into phi1 7.681 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.681 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.681 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.681 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.681 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.681 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.681 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 7.681 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 7.681 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.681 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.681 * [backup-simplify]: Simplify 0.5 into 0.5 7.681 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.681 * [backup-simplify]: Simplify phi2 into phi2 7.682 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.682 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.682 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.682 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.682 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.682 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.682 * [backup-simplify]: Simplify 0 into 0 7.682 * [backup-simplify]: Simplify 1 into 1 7.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.682 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.683 * [backup-simplify]: Simplify (* 1 1) into 1 7.683 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.683 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 7.683 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 7.683 * [taylor]: Taking taylor expansion of 2 in lambda2 7.683 * [backup-simplify]: Simplify 2 into 2 7.683 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 7.683 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.683 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.683 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.683 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.683 * [backup-simplify]: Simplify 0.5 into 0.5 7.683 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.683 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.683 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.683 * [backup-simplify]: Simplify phi1 into phi1 7.683 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.683 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.683 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.683 * [backup-simplify]: Simplify phi2 into phi2 7.683 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.683 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.684 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.684 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.684 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.684 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.684 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.684 * [backup-simplify]: Simplify (- 0) into 0 7.684 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.684 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 7.684 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.684 * [backup-simplify]: Simplify 0 into 0 7.684 * [backup-simplify]: Simplify 1 into 1 7.684 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.684 * [backup-simplify]: Simplify lambda1 into lambda1 7.685 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.685 * [backup-simplify]: Simplify (* 0 lambda1) into 0 7.685 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 7.685 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.685 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 7.685 * [taylor]: Taking taylor expansion of 2 in lambda2 7.685 * [backup-simplify]: Simplify 2 into 2 7.685 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 7.685 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 7.685 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 7.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.685 * [backup-simplify]: Simplify 0.5 into 0.5 7.685 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.685 * [backup-simplify]: Simplify phi1 into phi1 7.685 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.685 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 7.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 7.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.686 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.686 * [backup-simplify]: Simplify 0.5 into 0.5 7.686 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.686 * [backup-simplify]: Simplify phi1 into phi1 7.686 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.686 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 7.686 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 7.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.686 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.686 * [backup-simplify]: Simplify 0.5 into 0.5 7.686 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.686 * [backup-simplify]: Simplify phi2 into phi2 7.686 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.686 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 7.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.686 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.686 * [backup-simplify]: Simplify 0.5 into 0.5 7.686 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.686 * [backup-simplify]: Simplify phi2 into phi2 7.686 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.686 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.686 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.686 * [backup-simplify]: Simplify 0 into 0 7.686 * [backup-simplify]: Simplify 1 into 1 7.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.689 * [backup-simplify]: Simplify (- 0) into 0 7.690 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.690 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.690 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.690 * [backup-simplify]: Simplify (- 0) into 0 7.691 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.691 * [backup-simplify]: Simplify (* 1 1) into 1 7.691 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.691 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 7.691 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 7.691 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 7.692 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.692 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.692 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.692 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.692 * [backup-simplify]: Simplify 0.5 into 0.5 7.692 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.692 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.692 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.692 * [backup-simplify]: Simplify phi1 into phi1 7.692 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.692 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.692 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.692 * [backup-simplify]: Simplify phi2 into phi2 7.692 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.692 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.692 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.692 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.692 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.692 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.692 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.693 * [backup-simplify]: Simplify (- 0) into 0 7.693 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.693 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 7.693 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.693 * [backup-simplify]: Simplify lambda1 into lambda1 7.693 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.693 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.693 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.693 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 7.693 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 7.693 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 7.693 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 7.693 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 7.693 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.693 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.693 * [backup-simplify]: Simplify 0.5 into 0.5 7.693 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.693 * [backup-simplify]: Simplify phi1 into phi1 7.694 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.694 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.694 * [backup-simplify]: Simplify (- 0) into 0 7.694 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.694 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 7.694 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 7.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.694 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.694 * [backup-simplify]: Simplify 0.5 into 0.5 7.694 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.694 * [backup-simplify]: Simplify phi2 into phi2 7.694 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.694 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.694 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.694 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.695 * [backup-simplify]: Simplify (- 0) into 0 7.695 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.695 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.695 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.695 * [backup-simplify]: Simplify 0 into 0 7.695 * [backup-simplify]: Simplify 1 into 1 7.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.695 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.695 * [backup-simplify]: Simplify (* 1 1) into 1 7.696 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.696 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 7.696 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 7.696 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 7.696 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 7.696 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.696 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.696 * [backup-simplify]: Simplify 0.5 into 0.5 7.696 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.696 * [backup-simplify]: Simplify phi1 into phi1 7.696 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.696 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.696 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.696 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.696 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 7.696 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 7.696 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.696 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.696 * [backup-simplify]: Simplify 0.5 into 0.5 7.696 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.696 * [backup-simplify]: Simplify phi2 into phi2 7.696 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.696 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.696 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.697 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.697 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.697 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.697 * [backup-simplify]: Simplify 0 into 0 7.697 * [backup-simplify]: Simplify 1 into 1 7.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.697 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.697 * [backup-simplify]: Simplify (* 1 1) into 1 7.698 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.698 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 7.698 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 7.698 * [taylor]: Taking taylor expansion of 2 in lambda2 7.698 * [backup-simplify]: Simplify 2 into 2 7.698 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 7.698 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.698 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.698 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.698 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.698 * [backup-simplify]: Simplify 0.5 into 0.5 7.698 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.698 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.698 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.698 * [backup-simplify]: Simplify phi1 into phi1 7.698 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.698 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.698 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.698 * [backup-simplify]: Simplify phi2 into phi2 7.698 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.698 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.698 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.698 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.698 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.698 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.699 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.699 * [backup-simplify]: Simplify (- 0) into 0 7.699 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.699 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 7.699 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.699 * [backup-simplify]: Simplify 0 into 0 7.699 * [backup-simplify]: Simplify 1 into 1 7.699 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.699 * [backup-simplify]: Simplify lambda1 into lambda1 7.699 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.699 * [backup-simplify]: Simplify (* 0 lambda1) into 0 7.699 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 7.700 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.700 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 7.700 * [taylor]: Taking taylor expansion of 2 in lambda2 7.700 * [backup-simplify]: Simplify 2 into 2 7.700 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 7.700 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 7.700 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 7.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.700 * [backup-simplify]: Simplify 0.5 into 0.5 7.700 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.700 * [backup-simplify]: Simplify phi1 into phi1 7.700 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.700 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 7.700 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 7.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 7.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.700 * [backup-simplify]: Simplify 0.5 into 0.5 7.700 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.700 * [backup-simplify]: Simplify phi1 into phi1 7.700 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.700 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 7.700 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 7.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.700 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.700 * [backup-simplify]: Simplify 0.5 into 0.5 7.700 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.700 * [backup-simplify]: Simplify phi2 into phi2 7.700 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.700 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.701 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 7.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 7.701 * [taylor]: Taking taylor expansion of 0.5 in lambda2 7.701 * [backup-simplify]: Simplify 0.5 into 0.5 7.701 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.701 * [backup-simplify]: Simplify phi2 into phi2 7.701 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.701 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.701 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.701 * [backup-simplify]: Simplify 0 into 0 7.701 * [backup-simplify]: Simplify 1 into 1 7.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.701 * [backup-simplify]: Simplify (- 0) into 0 7.701 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.701 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.702 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.702 * [backup-simplify]: Simplify (- 0) into 0 7.702 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.703 * [backup-simplify]: Simplify (* 1 1) into 1 7.703 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.703 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 7.704 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 7.704 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 7.704 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 7.705 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.705 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.705 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 7.705 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 7.705 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 7.705 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 7.705 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 7.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.706 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.706 * [backup-simplify]: Simplify 0.5 into 0.5 7.706 * [taylor]: Taking taylor expansion of phi1 in phi2 7.706 * [backup-simplify]: Simplify phi1 into phi1 7.706 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.706 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 7.706 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 7.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.706 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.706 * [backup-simplify]: Simplify 0.5 into 0.5 7.706 * [taylor]: Taking taylor expansion of phi2 in phi2 7.706 * [backup-simplify]: Simplify 0 into 0 7.706 * [backup-simplify]: Simplify 1 into 1 7.706 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.706 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 7.707 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 7.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 7.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.707 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.707 * [backup-simplify]: Simplify 0.5 into 0.5 7.707 * [taylor]: Taking taylor expansion of phi1 in phi2 7.707 * [backup-simplify]: Simplify phi1 into phi1 7.707 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.707 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.707 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.707 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.707 * [backup-simplify]: Simplify (- 0) into 0 7.707 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.707 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 7.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 7.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.707 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.707 * [backup-simplify]: Simplify 0.5 into 0.5 7.707 * [taylor]: Taking taylor expansion of phi2 in phi2 7.707 * [backup-simplify]: Simplify 0 into 0 7.707 * [backup-simplify]: Simplify 1 into 1 7.708 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.708 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 7.708 * [taylor]: Taking taylor expansion of 2 in phi2 7.708 * [backup-simplify]: Simplify 2 into 2 7.708 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 7.708 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 7.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.708 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.708 * [backup-simplify]: Simplify 0.5 into 0.5 7.708 * [taylor]: Taking taylor expansion of phi1 in phi2 7.708 * [backup-simplify]: Simplify phi1 into phi1 7.708 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.708 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 7.708 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 7.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 7.708 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.708 * [backup-simplify]: Simplify 0.5 into 0.5 7.708 * [taylor]: Taking taylor expansion of phi1 in phi2 7.708 * [backup-simplify]: Simplify phi1 into phi1 7.708 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.708 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 7.708 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 7.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.708 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.708 * [backup-simplify]: Simplify 0.5 into 0.5 7.708 * [taylor]: Taking taylor expansion of phi2 in phi2 7.708 * [backup-simplify]: Simplify 0 into 0 7.708 * [backup-simplify]: Simplify 1 into 1 7.709 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.709 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.709 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 7.709 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 7.709 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.709 * [backup-simplify]: Simplify 0.5 into 0.5 7.709 * [taylor]: Taking taylor expansion of phi2 in phi2 7.709 * [backup-simplify]: Simplify 0 into 0 7.709 * [backup-simplify]: Simplify 1 into 1 7.709 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.709 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.710 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.710 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.710 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 7.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.711 * [backup-simplify]: Simplify (- 0) into 0 7.711 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.711 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.712 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 7.712 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.713 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.713 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 7.713 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 7.713 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 7.713 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 7.713 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 7.713 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.713 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.713 * [backup-simplify]: Simplify 0.5 into 0.5 7.713 * [taylor]: Taking taylor expansion of phi1 in phi1 7.713 * [backup-simplify]: Simplify 0 into 0 7.713 * [backup-simplify]: Simplify 1 into 1 7.713 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.713 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.713 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 7.713 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 7.713 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.713 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.713 * [backup-simplify]: Simplify 0.5 into 0.5 7.713 * [taylor]: Taking taylor expansion of phi2 in phi1 7.713 * [backup-simplify]: Simplify phi2 into phi2 7.713 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.713 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.713 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.714 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.714 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.714 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.714 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 7.714 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 7.714 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 7.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.714 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.714 * [backup-simplify]: Simplify 0.5 into 0.5 7.714 * [taylor]: Taking taylor expansion of phi1 in phi1 7.714 * [backup-simplify]: Simplify 0 into 0 7.714 * [backup-simplify]: Simplify 1 into 1 7.714 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.714 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 7.714 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 7.714 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.714 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.714 * [backup-simplify]: Simplify 0.5 into 0.5 7.714 * [taylor]: Taking taylor expansion of phi2 in phi1 7.714 * [backup-simplify]: Simplify phi2 into phi2 7.714 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.714 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.714 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.715 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.715 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.715 * [backup-simplify]: Simplify (- 0) into 0 7.715 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.715 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 7.715 * [taylor]: Taking taylor expansion of 2 in phi1 7.715 * [backup-simplify]: Simplify 2 into 2 7.715 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 7.715 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 7.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.715 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.715 * [backup-simplify]: Simplify 0.5 into 0.5 7.715 * [taylor]: Taking taylor expansion of phi1 in phi1 7.715 * [backup-simplify]: Simplify 0 into 0 7.715 * [backup-simplify]: Simplify 1 into 1 7.715 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.715 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.715 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 7.715 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 7.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 7.716 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.716 * [backup-simplify]: Simplify 0.5 into 0.5 7.716 * [taylor]: Taking taylor expansion of phi1 in phi1 7.716 * [backup-simplify]: Simplify 0 into 0 7.716 * [backup-simplify]: Simplify 1 into 1 7.716 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 7.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.716 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 7.716 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 7.716 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.716 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.716 * [backup-simplify]: Simplify 0.5 into 0.5 7.716 * [taylor]: Taking taylor expansion of phi2 in phi1 7.716 * [backup-simplify]: Simplify phi2 into phi2 7.716 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.716 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 7.716 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 7.716 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.716 * [backup-simplify]: Simplify 0.5 into 0.5 7.716 * [taylor]: Taking taylor expansion of phi2 in phi1 7.716 * [backup-simplify]: Simplify phi2 into phi2 7.716 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.717 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.717 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.717 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.717 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.717 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.717 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.718 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 7.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.718 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.718 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.718 * [backup-simplify]: Simplify (- 0) into 0 7.718 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.718 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.719 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.719 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.719 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 7.719 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.720 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.720 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1 7.720 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1 7.720 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 7.720 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 7.720 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 7.720 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.720 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.720 * [backup-simplify]: Simplify 0.5 into 0.5 7.720 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.720 * [backup-simplify]: Simplify phi1 into phi1 7.720 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.720 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.720 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.720 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.720 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.720 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.720 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 7.720 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 7.720 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.720 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.720 * [backup-simplify]: Simplify 0.5 into 0.5 7.721 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.721 * [backup-simplify]: Simplify phi2 into phi2 7.721 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.721 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.721 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.721 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 7.721 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 7.721 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 7.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.721 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.721 * [backup-simplify]: Simplify 0.5 into 0.5 7.721 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.721 * [backup-simplify]: Simplify phi1 into phi1 7.721 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.721 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.722 * [backup-simplify]: Simplify (- 0) into 0 7.722 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.722 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 7.722 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 7.722 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.722 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.722 * [backup-simplify]: Simplify 0.5 into 0.5 7.722 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.722 * [backup-simplify]: Simplify phi2 into phi2 7.722 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.722 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.722 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.722 * [backup-simplify]: Simplify (- 0) into 0 7.722 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.722 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1 7.722 * [taylor]: Taking taylor expansion of 2 in lambda1 7.722 * [backup-simplify]: Simplify 2 into 2 7.722 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 7.722 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 7.722 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.722 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.722 * [backup-simplify]: Simplify 0.5 into 0.5 7.722 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.723 * [backup-simplify]: Simplify phi1 into phi1 7.723 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.723 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.723 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 7.723 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 7.723 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 7.723 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.723 * [backup-simplify]: Simplify 0.5 into 0.5 7.723 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.723 * [backup-simplify]: Simplify phi1 into phi1 7.723 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 7.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 7.723 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 7.723 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 7.723 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 7.723 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.723 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.723 * [backup-simplify]: Simplify 0.5 into 0.5 7.723 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.723 * [backup-simplify]: Simplify phi2 into phi2 7.723 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.723 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.723 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 7.723 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 7.723 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.723 * [backup-simplify]: Simplify 0.5 into 0.5 7.723 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.723 * [backup-simplify]: Simplify phi2 into phi2 7.723 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 7.723 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 7.723 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 7.724 * [backup-simplify]: Simplify (+ 0) into 0 7.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.725 * [backup-simplify]: Simplify (- 0) into 0 7.725 * [backup-simplify]: Simplify (+ 0 0) into 0 7.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 7.726 * [backup-simplify]: Simplify (+ 0) into 0 7.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.728 * [backup-simplify]: Simplify (- 0) into 0 7.728 * [backup-simplify]: Simplify (+ 0 0) into 0 7.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 7.728 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 7.729 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.730 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 7.730 * [backup-simplify]: Simplify (+ 0) into 0 7.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.730 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.731 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.731 * [backup-simplify]: Simplify (+ 0 0) into 0 7.731 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 7.732 * [backup-simplify]: Simplify (+ 0) into 0 7.732 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.732 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.733 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.734 * [backup-simplify]: Simplify (+ 0 0) into 0 7.734 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 7.734 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 7.735 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.735 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 7.736 * [backup-simplify]: Simplify (+ 0 0) into 0 7.736 * [backup-simplify]: Simplify (+ 0 0) into 0 7.736 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.736 * [backup-simplify]: Simplify (+ 0) into 0 7.737 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.737 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.738 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.738 * [backup-simplify]: Simplify (- 0) into 0 7.738 * [backup-simplify]: Simplify (+ 0 0) into 0 7.738 * [backup-simplify]: Simplify (+ 0) into 0 7.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.739 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.739 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.740 * [backup-simplify]: Simplify (+ 0 0) into 0 7.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 7.740 * [backup-simplify]: Simplify (+ 0) into 0 7.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.742 * [backup-simplify]: Simplify (+ 0 0) into 0 7.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 7.742 * [backup-simplify]: Simplify (+ 0) into 0 7.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.743 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.743 * [backup-simplify]: Simplify (- 0) into 0 7.744 * [backup-simplify]: Simplify (+ 0 0) into 0 7.744 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 7.744 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.745 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0 7.745 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 7.746 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.746 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.746 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.746 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2 7.746 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2 7.746 * [taylor]: Taking taylor expansion of 2 in phi2 7.746 * [backup-simplify]: Simplify 2 into 2 7.746 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2 7.746 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 7.746 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.746 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.746 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.747 * [backup-simplify]: Simplify 0.5 into 0.5 7.747 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.747 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.747 * [taylor]: Taking taylor expansion of phi1 in phi2 7.747 * [backup-simplify]: Simplify phi1 into phi1 7.747 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.747 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.747 * [taylor]: Taking taylor expansion of phi2 in phi2 7.747 * [backup-simplify]: Simplify 0 into 0 7.747 * [backup-simplify]: Simplify 1 into 1 7.747 * [backup-simplify]: Simplify (/ 1 1) into 1 7.747 * [backup-simplify]: Simplify (+ 0 1) into 1 7.747 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.748 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.748 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.748 * [backup-simplify]: Simplify lambda1 into lambda1 7.748 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.748 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.748 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.748 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.748 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi1 7.749 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi1 7.749 * [taylor]: Taking taylor expansion of 2 in phi1 7.749 * [backup-simplify]: Simplify 2 into 2 7.749 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1 7.749 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.749 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.749 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.749 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.749 * [backup-simplify]: Simplify 0.5 into 0.5 7.749 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.749 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.749 * [taylor]: Taking taylor expansion of phi1 in phi1 7.749 * [backup-simplify]: Simplify 0 into 0 7.749 * [backup-simplify]: Simplify 1 into 1 7.749 * [backup-simplify]: Simplify (/ 1 1) into 1 7.749 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.749 * [taylor]: Taking taylor expansion of phi2 in phi1 7.749 * [backup-simplify]: Simplify phi2 into phi2 7.749 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.749 * [backup-simplify]: Simplify (+ 1 0) into 1 7.750 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.750 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.750 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.750 * [backup-simplify]: Simplify lambda1 into lambda1 7.750 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.750 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.750 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.751 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.751 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1 7.751 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 7.751 * [taylor]: Taking taylor expansion of 2 in lambda1 7.751 * [backup-simplify]: Simplify 2 into 2 7.751 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 7.751 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.751 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.751 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.751 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.751 * [backup-simplify]: Simplify 0.5 into 0.5 7.751 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.751 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.751 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.751 * [backup-simplify]: Simplify phi1 into phi1 7.751 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.751 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.751 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.751 * [backup-simplify]: Simplify phi2 into phi2 7.751 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.751 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.751 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.751 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.751 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.751 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.752 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.752 * [backup-simplify]: Simplify (- 0) into 0 7.752 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.752 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.752 * [backup-simplify]: Simplify 0 into 0 7.752 * [backup-simplify]: Simplify 1 into 1 7.752 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.752 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 7.753 * [backup-simplify]: Simplify (+ 0) into 0 7.753 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.753 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.754 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.754 * [backup-simplify]: Simplify (+ 0 0) into 0 7.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 7.755 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 7.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 7.755 * [backup-simplify]: Simplify (+ 0) into 0 7.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.755 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.756 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.756 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.756 * [backup-simplify]: Simplify (- 0) into 0 7.757 * [backup-simplify]: Simplify (+ 0 0) into 0 7.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 7.757 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 7.757 * [backup-simplify]: Simplify (+ 0 0) into 0 7.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 7.758 * [backup-simplify]: Simplify (+ 0) into 0 7.758 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.758 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.759 * [backup-simplify]: Simplify (+ 0 0) into 0 7.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 7.759 * [backup-simplify]: Simplify (+ 0) into 0 7.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 7.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 7.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.761 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 7.761 * [backup-simplify]: Simplify (- 0) into 0 7.761 * [backup-simplify]: Simplify (+ 0 0) into 0 7.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 7.762 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 7.762 * [backup-simplify]: Simplify (- 0) into 0 7.762 * [backup-simplify]: Simplify (+ 0 0) into 0 7.762 * [taylor]: Taking taylor expansion of 0 in phi1 7.762 * [backup-simplify]: Simplify 0 into 0 7.762 * [taylor]: Taking taylor expansion of 0 in lambda1 7.762 * [backup-simplify]: Simplify 0 into 0 7.762 * [backup-simplify]: Simplify (+ 0) into 0 7.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.763 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.764 * [backup-simplify]: Simplify (+ 0 0) into 0 7.764 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 7.764 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 7.764 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 7.765 * [backup-simplify]: Simplify (+ 0) into 0 7.765 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.765 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.766 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.766 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.766 * [backup-simplify]: Simplify (- 0) into 0 7.766 * [backup-simplify]: Simplify (+ 0 0) into 0 7.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 7.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 7.767 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 7.767 * [backup-simplify]: Simplify (+ 0 0) into 0 7.767 * [backup-simplify]: Simplify (+ 0) into 0 7.768 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.769 * [backup-simplify]: Simplify (- 0) into 0 7.769 * [backup-simplify]: Simplify (+ 0 0) into 0 7.769 * [backup-simplify]: Simplify (+ 0) into 0 7.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 7.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 7.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.770 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 7.771 * [backup-simplify]: Simplify (+ 0 0) into 0 7.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 7.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 7.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 7.771 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 7.772 * [backup-simplify]: Simplify (- 0) into 0 7.772 * [backup-simplify]: Simplify (+ 0 0) into 0 7.772 * [taylor]: Taking taylor expansion of 0 in lambda1 7.772 * [backup-simplify]: Simplify 0 into 0 7.773 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.773 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.774 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.774 * [backup-simplify]: Simplify (- 0) into 0 7.774 * [backup-simplify]: Simplify (+ 0 0) into 0 7.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 7.775 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.776 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.776 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.776 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.777 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.777 * [backup-simplify]: Simplify (- 0) into 0 7.777 * [backup-simplify]: Simplify (+ 0 0) into 0 7.778 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 7.778 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 7.779 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 7.780 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 7.780 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.781 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.782 * [backup-simplify]: Simplify (+ 0 0) into 0 7.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 7.783 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.783 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.784 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.784 * [backup-simplify]: Simplify (+ 0 0) into 0 7.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 7.785 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 7.786 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 7.787 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 7.787 * [backup-simplify]: Simplify (+ 0 0) into 0 7.787 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.788 * [backup-simplify]: Simplify (+ 0) into 0 7.788 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 7.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 7.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 7.788 * [backup-simplify]: Simplify (+ 0 0) into 0 7.789 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 7.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.790 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 7.790 * [backup-simplify]: Simplify (- 0) into 0 7.790 * [backup-simplify]: Simplify (+ 0 0) into 0 7.790 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 7.791 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 7.791 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 7.791 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 7.792 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.795 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.796 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.796 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.797 * [backup-simplify]: Simplify (- 0) into 0 7.797 * [backup-simplify]: Simplify (+ 0 0) into 0 7.798 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.798 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.799 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.799 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.800 * [backup-simplify]: Simplify (+ 0 0) into 0 7.800 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 7.800 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.801 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.801 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.802 * [backup-simplify]: Simplify (+ 0 0) into 0 7.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 7.803 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.803 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.803 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.804 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.805 * [backup-simplify]: Simplify (- 0) into 0 7.805 * [backup-simplify]: Simplify (+ 0 0) into 0 7.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 7.806 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 7.807 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 7.807 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 7.808 * [backup-simplify]: Simplify (+ 0 0) into 0 7.808 * [backup-simplify]: Simplify (- 0) into 0 7.808 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.808 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 7.808 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 7.808 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.808 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.808 * [taylor]: Taking taylor expansion of 0.5 in phi2 7.808 * [backup-simplify]: Simplify 0.5 into 0.5 7.808 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.808 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.808 * [taylor]: Taking taylor expansion of phi1 in phi2 7.808 * [backup-simplify]: Simplify phi1 into phi1 7.808 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.808 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.808 * [taylor]: Taking taylor expansion of phi2 in phi2 7.808 * [backup-simplify]: Simplify 0 into 0 7.808 * [backup-simplify]: Simplify 1 into 1 7.809 * [backup-simplify]: Simplify (/ 1 1) into 1 7.809 * [backup-simplify]: Simplify (+ 0 1) into 1 7.809 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.809 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.809 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 7.809 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.809 * [backup-simplify]: Simplify lambda1 into lambda1 7.810 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.810 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.810 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.810 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 7.810 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.810 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.810 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.810 * [taylor]: Taking taylor expansion of 0.5 in phi1 7.810 * [backup-simplify]: Simplify 0.5 into 0.5 7.810 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.810 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.810 * [taylor]: Taking taylor expansion of phi1 in phi1 7.810 * [backup-simplify]: Simplify 0 into 0 7.810 * [backup-simplify]: Simplify 1 into 1 7.810 * [backup-simplify]: Simplify (/ 1 1) into 1 7.810 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.810 * [taylor]: Taking taylor expansion of phi2 in phi1 7.810 * [backup-simplify]: Simplify phi2 into phi2 7.810 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.811 * [backup-simplify]: Simplify (+ 1 0) into 1 7.811 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 7.811 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.811 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.811 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.811 * [backup-simplify]: Simplify lambda1 into lambda1 7.811 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.811 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.812 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.812 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 7.812 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.812 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.812 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.812 * [taylor]: Taking taylor expansion of 0.5 in lambda1 7.812 * [backup-simplify]: Simplify 0.5 into 0.5 7.812 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.812 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.812 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.812 * [backup-simplify]: Simplify phi1 into phi1 7.812 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.812 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.812 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.812 * [backup-simplify]: Simplify phi2 into phi2 7.812 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.812 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.812 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.812 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.812 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.812 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.812 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.813 * [backup-simplify]: Simplify (- 0) into 0 7.813 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.813 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.813 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.813 * [backup-simplify]: Simplify 0 into 0 7.813 * [backup-simplify]: Simplify 1 into 1 7.813 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.813 * [backup-simplify]: Simplify (* 1 1) into 1 7.814 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.814 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.814 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 7.814 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 7.815 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 7.815 * [backup-simplify]: Simplify (- 0) into 0 7.815 * [taylor]: Taking taylor expansion of 0 in phi1 7.815 * [backup-simplify]: Simplify 0 into 0 7.815 * [taylor]: Taking taylor expansion of 0 in lambda1 7.815 * [backup-simplify]: Simplify 0 into 0 7.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 7.816 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.817 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.817 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.817 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.818 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.818 * [backup-simplify]: Simplify (+ 0 0) into 0 7.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 7.819 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 7.819 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 7.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.821 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.821 * [backup-simplify]: Simplify (- 0) into 0 7.822 * [backup-simplify]: Simplify (+ 0 0) into 0 7.822 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 7.822 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 7.823 * [backup-simplify]: Simplify (+ 0 0) into 0 7.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 7.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.825 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.825 * [backup-simplify]: Simplify (+ 0 0) into 0 7.826 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 7.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 7.827 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 7.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 7.828 * [backup-simplify]: Simplify (- 0) into 0 7.828 * [backup-simplify]: Simplify (+ 0 0) into 0 7.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 7.829 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 7.830 * [backup-simplify]: Simplify (- 0) into 0 7.830 * [backup-simplify]: Simplify (+ 0 0) into 0 7.830 * [taylor]: Taking taylor expansion of 0 in phi1 7.830 * [backup-simplify]: Simplify 0 into 0 7.830 * [taylor]: Taking taylor expansion of 0 in lambda1 7.830 * [backup-simplify]: Simplify 0 into 0 7.830 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 7.831 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 7.831 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 7.831 * [backup-simplify]: Simplify (- 0) into 0 7.831 * [taylor]: Taking taylor expansion of 0 in lambda1 7.831 * [backup-simplify]: Simplify 0 into 0 7.831 * [taylor]: Taking taylor expansion of 0 in lambda1 7.831 * [backup-simplify]: Simplify 0 into 0 7.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.833 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.834 * [backup-simplify]: Simplify (+ 0 0) into 0 7.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 7.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 7.835 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 7.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.836 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.836 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.837 * [backup-simplify]: Simplify (- 0) into 0 7.837 * [backup-simplify]: Simplify (+ 0 0) into 0 7.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 7.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 7.838 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 7.839 * [backup-simplify]: Simplify (+ 0 0) into 0 7.839 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.840 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.840 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.841 * [backup-simplify]: Simplify (- 0) into 0 7.841 * [backup-simplify]: Simplify (+ 0 0) into 0 7.842 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 7.842 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 7.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 7.843 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 7.844 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 7.844 * [backup-simplify]: Simplify (+ 0 0) into 0 7.844 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 7.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 7.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 7.846 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 7.846 * [backup-simplify]: Simplify (- 0) into 0 7.847 * [backup-simplify]: Simplify (+ 0 0) into 0 7.847 * [taylor]: Taking taylor expansion of 0 in lambda1 7.847 * [backup-simplify]: Simplify 0 into 0 7.847 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 7.847 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 7.847 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 7.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 7.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 7.848 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 7.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 7.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 7.848 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 7.849 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 7.849 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 7.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 7.849 * [backup-simplify]: Simplify (- 0) into 0 7.849 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 7.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 7.849 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 7.850 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 7.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 7.850 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 7.850 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 7.850 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 7.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 7.850 * [backup-simplify]: Simplify (- 0) into 0 7.850 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 7.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 7.850 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 7.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 7.851 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 7.851 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.852 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.853 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 7.855 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda2))))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 (/ 1 (/ 1 lambda2)))))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) 7.857 * [backup-simplify]: Simplify (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5)))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) 7.857 * [approximate]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in (lambda2 phi2 phi1 lambda1) around 0 7.857 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda1 7.857 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 7.857 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 7.857 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 7.857 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 7.857 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.857 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.857 * [backup-simplify]: Simplify -0.5 into -0.5 7.857 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.857 * [backup-simplify]: Simplify phi2 into phi2 7.857 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.858 * [backup-simplify]: Simplify (- 0) into 0 7.858 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.858 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 7.858 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.858 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.858 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.858 * [backup-simplify]: Simplify -0.5 into -0.5 7.858 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.858 * [backup-simplify]: Simplify phi1 into phi1 7.858 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.858 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.858 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.858 * [backup-simplify]: Simplify (- 0) into 0 7.858 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.858 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.858 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.858 * [backup-simplify]: Simplify lambda2 into lambda2 7.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.859 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.859 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.859 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 7.859 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 7.859 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 7.859 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.859 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.859 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.859 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.859 * [backup-simplify]: Simplify -0.5 into -0.5 7.859 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.859 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.859 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.859 * [backup-simplify]: Simplify phi1 into phi1 7.859 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.859 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.860 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.860 * [backup-simplify]: Simplify phi2 into phi2 7.860 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.860 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.860 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.860 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.860 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.860 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.860 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.860 * [backup-simplify]: Simplify (- 0) into 0 7.861 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.861 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 7.861 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.861 * [backup-simplify]: Simplify 0 into 0 7.861 * [backup-simplify]: Simplify 1 into 1 7.861 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.861 * [backup-simplify]: Simplify (* 1 1) into 1 7.861 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.861 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 7.861 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 7.861 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 7.861 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.861 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.862 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.862 * [backup-simplify]: Simplify -0.5 into -0.5 7.862 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.862 * [backup-simplify]: Simplify phi2 into phi2 7.862 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.862 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.862 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.862 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.862 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 7.862 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.862 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.862 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.862 * [backup-simplify]: Simplify -0.5 into -0.5 7.862 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.862 * [backup-simplify]: Simplify phi1 into phi1 7.862 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.862 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.862 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.862 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.862 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.862 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.862 * [backup-simplify]: Simplify lambda2 into lambda2 7.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.863 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.863 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.863 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.863 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 7.863 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda1 7.863 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 7.863 * [taylor]: Taking taylor expansion of 2 in lambda1 7.863 * [backup-simplify]: Simplify 2 into 2 7.863 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 7.863 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.863 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.863 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.863 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.863 * [backup-simplify]: Simplify -0.5 into -0.5 7.863 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.863 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.863 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.863 * [backup-simplify]: Simplify phi1 into phi1 7.863 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.863 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.863 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.863 * [backup-simplify]: Simplify phi2 into phi2 7.863 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.864 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.864 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.864 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.864 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.864 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.864 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.864 * [backup-simplify]: Simplify (- 0) into 0 7.864 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.864 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 7.865 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.865 * [backup-simplify]: Simplify lambda2 into lambda2 7.865 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.865 * [backup-simplify]: Simplify 0 into 0 7.865 * [backup-simplify]: Simplify 1 into 1 7.865 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.865 * [backup-simplify]: Simplify (* lambda2 0) into 0 7.865 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 7.865 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 7.865 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda1 7.865 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 7.865 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 7.865 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.865 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.865 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.865 * [backup-simplify]: Simplify -0.5 into -0.5 7.865 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.865 * [backup-simplify]: Simplify phi1 into phi1 7.866 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.866 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.866 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.866 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 7.866 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.866 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.866 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.866 * [backup-simplify]: Simplify -0.5 into -0.5 7.866 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.866 * [backup-simplify]: Simplify phi2 into phi2 7.866 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.866 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.866 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.866 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 7.866 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.866 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.866 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.866 * [backup-simplify]: Simplify -0.5 into -0.5 7.866 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.866 * [backup-simplify]: Simplify phi2 into phi2 7.866 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.866 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.866 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.866 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.866 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.866 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.866 * [backup-simplify]: Simplify -0.5 into -0.5 7.866 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.866 * [backup-simplify]: Simplify phi1 into phi1 7.866 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.866 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.866 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.866 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.866 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.866 * [backup-simplify]: Simplify lambda2 into lambda2 7.866 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.867 * [backup-simplify]: Simplify (- 0) into 0 7.867 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.867 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.867 * [backup-simplify]: Simplify (- 0) into 0 7.868 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.868 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.868 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.868 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 7.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 7.868 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.868 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 7.868 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 7.868 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1 7.868 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.869 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.869 * [backup-simplify]: Simplify -0.5 into -0.5 7.869 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.869 * [backup-simplify]: Simplify phi1 into phi1 7.869 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.869 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1 7.869 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.869 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.869 * [backup-simplify]: Simplify -0.5 into -0.5 7.869 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.869 * [backup-simplify]: Simplify phi2 into phi2 7.869 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.869 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 7.869 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.869 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.869 * [backup-simplify]: Simplify -0.5 into -0.5 7.869 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.869 * [backup-simplify]: Simplify phi2 into phi2 7.869 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.869 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.869 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.869 * [backup-simplify]: Simplify -0.5 into -0.5 7.869 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.869 * [backup-simplify]: Simplify phi1 into phi1 7.869 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.869 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 7.869 * [taylor]: Taking taylor expansion of lambda2 in lambda1 7.870 * [backup-simplify]: Simplify lambda2 into lambda2 7.870 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.870 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.870 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.870 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.870 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.870 * [backup-simplify]: Simplify (- 0) into 0 7.870 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.870 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.870 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.870 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.870 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.870 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.871 * [backup-simplify]: Simplify (- 0) into 0 7.871 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.871 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.871 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 7.871 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 7.871 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.872 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 7.872 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in phi1 7.872 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 7.872 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 7.872 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 7.872 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 7.872 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.872 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.872 * [backup-simplify]: Simplify -0.5 into -0.5 7.872 * [taylor]: Taking taylor expansion of phi2 in phi1 7.872 * [backup-simplify]: Simplify phi2 into phi2 7.872 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.872 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.872 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.872 * [backup-simplify]: Simplify (- 0) into 0 7.872 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.872 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 7.872 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.872 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.872 * [backup-simplify]: Simplify -0.5 into -0.5 7.872 * [taylor]: Taking taylor expansion of phi1 in phi1 7.872 * [backup-simplify]: Simplify 0 into 0 7.873 * [backup-simplify]: Simplify 1 into 1 7.873 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.873 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.873 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.873 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.873 * [backup-simplify]: Simplify lambda2 into lambda2 7.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.873 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.873 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.874 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 7.874 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 7.874 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 7.874 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.874 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.874 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.874 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.874 * [backup-simplify]: Simplify -0.5 into -0.5 7.874 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.874 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.874 * [taylor]: Taking taylor expansion of phi1 in phi1 7.874 * [backup-simplify]: Simplify 0 into 0 7.874 * [backup-simplify]: Simplify 1 into 1 7.874 * [backup-simplify]: Simplify (/ 1 1) into 1 7.874 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.874 * [taylor]: Taking taylor expansion of phi2 in phi1 7.874 * [backup-simplify]: Simplify phi2 into phi2 7.874 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.874 * [backup-simplify]: Simplify (+ 1 0) into 1 7.875 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.875 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.875 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 7.875 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.875 * [backup-simplify]: Simplify lambda1 into lambda1 7.875 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.875 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.875 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.875 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 7.875 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 7.875 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 7.875 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.875 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.876 * [backup-simplify]: Simplify -0.5 into -0.5 7.876 * [taylor]: Taking taylor expansion of phi2 in phi1 7.876 * [backup-simplify]: Simplify phi2 into phi2 7.876 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.876 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.876 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.876 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.876 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 7.876 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.876 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.876 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.876 * [backup-simplify]: Simplify -0.5 into -0.5 7.876 * [taylor]: Taking taylor expansion of phi1 in phi1 7.876 * [backup-simplify]: Simplify 0 into 0 7.876 * [backup-simplify]: Simplify 1 into 1 7.876 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.876 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.876 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.876 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.876 * [backup-simplify]: Simplify lambda2 into lambda2 7.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.877 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.877 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.877 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 7.877 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in phi1 7.877 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 7.877 * [taylor]: Taking taylor expansion of 2 in phi1 7.877 * [backup-simplify]: Simplify 2 into 2 7.877 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 7.877 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.877 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.877 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.877 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.877 * [backup-simplify]: Simplify -0.5 into -0.5 7.877 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.877 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.877 * [taylor]: Taking taylor expansion of phi1 in phi1 7.877 * [backup-simplify]: Simplify 0 into 0 7.877 * [backup-simplify]: Simplify 1 into 1 7.878 * [backup-simplify]: Simplify (/ 1 1) into 1 7.878 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.878 * [taylor]: Taking taylor expansion of phi2 in phi1 7.878 * [backup-simplify]: Simplify phi2 into phi2 7.878 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.878 * [backup-simplify]: Simplify (+ 1 0) into 1 7.879 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.879 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.879 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 7.879 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.879 * [backup-simplify]: Simplify lambda2 into lambda2 7.879 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.879 * [backup-simplify]: Simplify lambda1 into lambda1 7.879 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.879 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 7.879 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 7.879 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in phi1 7.879 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 7.879 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 7.879 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.879 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.879 * [backup-simplify]: Simplify -0.5 into -0.5 7.879 * [taylor]: Taking taylor expansion of phi1 in phi1 7.879 * [backup-simplify]: Simplify 0 into 0 7.879 * [backup-simplify]: Simplify 1 into 1 7.880 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.880 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 7.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.880 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.880 * [backup-simplify]: Simplify -0.5 into -0.5 7.880 * [taylor]: Taking taylor expansion of phi2 in phi1 7.880 * [backup-simplify]: Simplify phi2 into phi2 7.880 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.880 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 7.880 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.880 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.880 * [backup-simplify]: Simplify -0.5 into -0.5 7.880 * [taylor]: Taking taylor expansion of phi2 in phi1 7.880 * [backup-simplify]: Simplify phi2 into phi2 7.880 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.880 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.880 * [backup-simplify]: Simplify -0.5 into -0.5 7.881 * [taylor]: Taking taylor expansion of phi1 in phi1 7.881 * [backup-simplify]: Simplify 0 into 0 7.881 * [backup-simplify]: Simplify 1 into 1 7.881 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.881 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.881 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.881 * [backup-simplify]: Simplify lambda2 into lambda2 7.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.881 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.882 * [backup-simplify]: Simplify (- 0) into 0 7.882 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 7.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 7.882 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.882 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 7.882 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 7.882 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1 7.882 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.882 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.882 * [backup-simplify]: Simplify -0.5 into -0.5 7.882 * [taylor]: Taking taylor expansion of phi1 in phi1 7.882 * [backup-simplify]: Simplify 0 into 0 7.883 * [backup-simplify]: Simplify 1 into 1 7.883 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.883 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1 7.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.883 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.883 * [backup-simplify]: Simplify -0.5 into -0.5 7.883 * [taylor]: Taking taylor expansion of phi2 in phi1 7.883 * [backup-simplify]: Simplify phi2 into phi2 7.883 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.883 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 7.883 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.883 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.883 * [backup-simplify]: Simplify -0.5 into -0.5 7.883 * [taylor]: Taking taylor expansion of phi2 in phi1 7.883 * [backup-simplify]: Simplify phi2 into phi2 7.883 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.883 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.883 * [backup-simplify]: Simplify -0.5 into -0.5 7.884 * [taylor]: Taking taylor expansion of phi1 in phi1 7.884 * [backup-simplify]: Simplify 0 into 0 7.884 * [backup-simplify]: Simplify 1 into 1 7.884 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.884 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 7.884 * [taylor]: Taking taylor expansion of lambda2 in phi1 7.884 * [backup-simplify]: Simplify lambda2 into lambda2 7.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.884 * [backup-simplify]: Simplify (- 0) into 0 7.885 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.885 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 7.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 7.885 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.885 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 7.885 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in phi2 7.886 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 7.886 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 7.886 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 7.886 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 7.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 7.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.886 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.886 * [backup-simplify]: Simplify -0.5 into -0.5 7.886 * [taylor]: Taking taylor expansion of phi2 in phi2 7.886 * [backup-simplify]: Simplify 0 into 0 7.886 * [backup-simplify]: Simplify 1 into 1 7.886 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.886 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 7.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 7.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.886 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.886 * [backup-simplify]: Simplify -0.5 into -0.5 7.886 * [taylor]: Taking taylor expansion of phi1 in phi2 7.886 * [backup-simplify]: Simplify phi1 into phi1 7.886 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.887 * [backup-simplify]: Simplify (- 0) into 0 7.887 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.887 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.887 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.887 * [backup-simplify]: Simplify lambda2 into lambda2 7.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.887 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.887 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.888 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 7.888 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 7.888 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 7.888 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 7.888 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.888 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.888 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.888 * [backup-simplify]: Simplify -0.5 into -0.5 7.888 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.888 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.888 * [taylor]: Taking taylor expansion of phi1 in phi2 7.888 * [backup-simplify]: Simplify phi1 into phi1 7.888 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.888 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.888 * [taylor]: Taking taylor expansion of phi2 in phi2 7.888 * [backup-simplify]: Simplify 0 into 0 7.888 * [backup-simplify]: Simplify 1 into 1 7.888 * [backup-simplify]: Simplify (/ 1 1) into 1 7.888 * [backup-simplify]: Simplify (+ 0 1) into 1 7.889 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.889 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.889 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 7.889 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.889 * [backup-simplify]: Simplify lambda1 into lambda1 7.889 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.889 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.889 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.889 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 7.889 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 7.889 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 7.889 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 7.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.889 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.889 * [backup-simplify]: Simplify -0.5 into -0.5 7.889 * [taylor]: Taking taylor expansion of phi2 in phi2 7.889 * [backup-simplify]: Simplify 0 into 0 7.889 * [backup-simplify]: Simplify 1 into 1 7.890 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.890 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 7.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 7.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.890 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.890 * [backup-simplify]: Simplify -0.5 into -0.5 7.890 * [taylor]: Taking taylor expansion of phi1 in phi2 7.890 * [backup-simplify]: Simplify phi1 into phi1 7.890 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.890 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.890 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.890 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.890 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.890 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.890 * [backup-simplify]: Simplify lambda2 into lambda2 7.890 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.891 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.891 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.891 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 7.891 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in phi2 7.891 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 7.891 * [taylor]: Taking taylor expansion of 2 in phi2 7.891 * [backup-simplify]: Simplify 2 into 2 7.891 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 7.891 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 7.891 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.891 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.891 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.891 * [backup-simplify]: Simplify -0.5 into -0.5 7.891 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.891 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.891 * [taylor]: Taking taylor expansion of phi1 in phi2 7.891 * [backup-simplify]: Simplify phi1 into phi1 7.891 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.891 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.891 * [taylor]: Taking taylor expansion of phi2 in phi2 7.891 * [backup-simplify]: Simplify 0 into 0 7.891 * [backup-simplify]: Simplify 1 into 1 7.892 * [backup-simplify]: Simplify (/ 1 1) into 1 7.892 * [backup-simplify]: Simplify (+ 0 1) into 1 7.892 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.892 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.892 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 7.892 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.892 * [backup-simplify]: Simplify lambda2 into lambda2 7.892 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.892 * [backup-simplify]: Simplify lambda1 into lambda1 7.893 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.893 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 7.893 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 7.893 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in phi2 7.893 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 7.893 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 7.893 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 7.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.893 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.893 * [backup-simplify]: Simplify -0.5 into -0.5 7.893 * [taylor]: Taking taylor expansion of phi1 in phi2 7.893 * [backup-simplify]: Simplify phi1 into phi1 7.893 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.893 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.893 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 7.893 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 7.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.893 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.893 * [backup-simplify]: Simplify -0.5 into -0.5 7.893 * [taylor]: Taking taylor expansion of phi2 in phi2 7.893 * [backup-simplify]: Simplify 0 into 0 7.893 * [backup-simplify]: Simplify 1 into 1 7.894 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.894 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 7.894 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 7.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.894 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.894 * [backup-simplify]: Simplify -0.5 into -0.5 7.894 * [taylor]: Taking taylor expansion of phi2 in phi2 7.894 * [backup-simplify]: Simplify 0 into 0 7.894 * [backup-simplify]: Simplify 1 into 1 7.894 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.894 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 7.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.894 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.894 * [backup-simplify]: Simplify -0.5 into -0.5 7.894 * [taylor]: Taking taylor expansion of phi1 in phi2 7.894 * [backup-simplify]: Simplify phi1 into phi1 7.894 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.894 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.894 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.894 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.894 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.895 * [backup-simplify]: Simplify lambda2 into lambda2 7.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.895 * [backup-simplify]: Simplify (- 0) into 0 7.895 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.895 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 7.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 7.896 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.896 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 7.896 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 7.896 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 7.896 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 7.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.896 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.896 * [backup-simplify]: Simplify -0.5 into -0.5 7.896 * [taylor]: Taking taylor expansion of phi1 in phi2 7.896 * [backup-simplify]: Simplify phi1 into phi1 7.896 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.896 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.896 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.896 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 7.896 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 7.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.896 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.896 * [backup-simplify]: Simplify -0.5 into -0.5 7.896 * [taylor]: Taking taylor expansion of phi2 in phi2 7.896 * [backup-simplify]: Simplify 0 into 0 7.896 * [backup-simplify]: Simplify 1 into 1 7.897 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.897 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 7.897 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 7.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.897 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.897 * [backup-simplify]: Simplify -0.5 into -0.5 7.897 * [taylor]: Taking taylor expansion of phi2 in phi2 7.897 * [backup-simplify]: Simplify 0 into 0 7.897 * [backup-simplify]: Simplify 1 into 1 7.897 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.897 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.897 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 7.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.897 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.897 * [backup-simplify]: Simplify -0.5 into -0.5 7.897 * [taylor]: Taking taylor expansion of phi1 in phi2 7.897 * [backup-simplify]: Simplify phi1 into phi1 7.897 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.897 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.897 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 7.897 * [taylor]: Taking taylor expansion of lambda2 in phi2 7.897 * [backup-simplify]: Simplify lambda2 into lambda2 7.897 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.898 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.898 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.898 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.898 * [backup-simplify]: Simplify (- 0) into 0 7.898 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.898 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 7.898 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 7.898 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 7.899 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 7.899 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda2 7.899 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 7.899 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 7.899 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 7.899 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 7.899 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 7.899 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.899 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.899 * [backup-simplify]: Simplify -0.5 into -0.5 7.899 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.899 * [backup-simplify]: Simplify phi2 into phi2 7.899 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.899 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.899 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.899 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.899 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.900 * [backup-simplify]: Simplify (- 0) into 0 7.900 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.900 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 7.900 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 7.900 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.900 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.900 * [backup-simplify]: Simplify -0.5 into -0.5 7.900 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.900 * [backup-simplify]: Simplify phi1 into phi1 7.900 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.900 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.900 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.900 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.900 * [backup-simplify]: Simplify (- 0) into 0 7.900 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.900 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.900 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.900 * [backup-simplify]: Simplify 0 into 0 7.900 * [backup-simplify]: Simplify 1 into 1 7.900 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.901 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.901 * [backup-simplify]: Simplify (* 1 1) into 1 7.901 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.901 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 7.901 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 7.901 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.901 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.901 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.901 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.901 * [backup-simplify]: Simplify -0.5 into -0.5 7.901 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.901 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.901 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.901 * [backup-simplify]: Simplify phi1 into phi1 7.902 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.902 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.902 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.902 * [backup-simplify]: Simplify phi2 into phi2 7.902 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.902 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.902 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.902 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.902 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.902 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.902 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.905 * [backup-simplify]: Simplify (- 0) into 0 7.905 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.905 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 7.905 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.905 * [backup-simplify]: Simplify lambda1 into lambda1 7.906 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.906 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.906 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.906 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 7.906 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 7.906 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 7.906 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 7.906 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.906 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.906 * [backup-simplify]: Simplify -0.5 into -0.5 7.906 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.906 * [backup-simplify]: Simplify phi2 into phi2 7.906 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.906 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.906 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.906 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.906 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 7.906 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 7.906 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.906 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.906 * [backup-simplify]: Simplify -0.5 into -0.5 7.906 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.907 * [backup-simplify]: Simplify phi1 into phi1 7.907 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.907 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.907 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.907 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.907 * [backup-simplify]: Simplify 0 into 0 7.907 * [backup-simplify]: Simplify 1 into 1 7.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.907 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.908 * [backup-simplify]: Simplify (* 1 1) into 1 7.908 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.908 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda2 7.908 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 7.908 * [taylor]: Taking taylor expansion of 2 in lambda2 7.908 * [backup-simplify]: Simplify 2 into 2 7.908 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 7.908 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.908 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.908 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.908 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.908 * [backup-simplify]: Simplify -0.5 into -0.5 7.908 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.908 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.908 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.908 * [backup-simplify]: Simplify phi1 into phi1 7.908 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.908 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.908 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.908 * [backup-simplify]: Simplify phi2 into phi2 7.908 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.908 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.908 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.909 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.909 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.909 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.909 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.909 * [backup-simplify]: Simplify (- 0) into 0 7.909 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.909 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 7.909 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.909 * [backup-simplify]: Simplify 0 into 0 7.909 * [backup-simplify]: Simplify 1 into 1 7.909 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.909 * [backup-simplify]: Simplify lambda1 into lambda1 7.910 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.910 * [backup-simplify]: Simplify (* 0 lambda1) into 0 7.910 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 7.910 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.910 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda2 7.910 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 7.910 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 7.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 7.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.910 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.910 * [backup-simplify]: Simplify -0.5 into -0.5 7.910 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.910 * [backup-simplify]: Simplify phi1 into phi1 7.910 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.910 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 7.910 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 7.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.910 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.911 * [backup-simplify]: Simplify -0.5 into -0.5 7.911 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.911 * [backup-simplify]: Simplify phi2 into phi2 7.911 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.911 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 7.911 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 7.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.911 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.911 * [backup-simplify]: Simplify -0.5 into -0.5 7.911 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.911 * [backup-simplify]: Simplify phi2 into phi2 7.911 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.911 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 7.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.911 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.911 * [backup-simplify]: Simplify -0.5 into -0.5 7.911 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.911 * [backup-simplify]: Simplify phi1 into phi1 7.911 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.911 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.911 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.911 * [backup-simplify]: Simplify 0 into 0 7.911 * [backup-simplify]: Simplify 1 into 1 7.911 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.912 * [backup-simplify]: Simplify (- 0) into 0 7.912 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.912 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.912 * [backup-simplify]: Simplify (- 0) into 0 7.912 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.912 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 7.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 7.913 * [backup-simplify]: Simplify (* 1 1) into 1 7.913 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 7.913 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 7.913 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 7.913 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 7.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.913 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.913 * [backup-simplify]: Simplify -0.5 into -0.5 7.913 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.914 * [backup-simplify]: Simplify phi1 into phi1 7.914 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.914 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 7.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 7.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.914 * [backup-simplify]: Simplify -0.5 into -0.5 7.914 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.914 * [backup-simplify]: Simplify phi2 into phi2 7.914 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.914 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 7.914 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 7.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.914 * [backup-simplify]: Simplify -0.5 into -0.5 7.914 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.914 * [backup-simplify]: Simplify phi2 into phi2 7.914 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 7.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.914 * [backup-simplify]: Simplify -0.5 into -0.5 7.914 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.914 * [backup-simplify]: Simplify phi1 into phi1 7.914 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.914 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.914 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.914 * [backup-simplify]: Simplify 0 into 0 7.914 * [backup-simplify]: Simplify 1 into 1 7.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.915 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.915 * [backup-simplify]: Simplify (- 0) into 0 7.915 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.915 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.916 * [backup-simplify]: Simplify (- 0) into 0 7.916 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 7.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 7.916 * [backup-simplify]: Simplify (* 1 1) into 1 7.917 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 7.917 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda2 7.917 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 7.917 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 7.917 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 7.917 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 7.917 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 7.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.917 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.917 * [backup-simplify]: Simplify -0.5 into -0.5 7.917 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.917 * [backup-simplify]: Simplify phi2 into phi2 7.917 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.917 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.917 * [backup-simplify]: Simplify (- 0) into 0 7.917 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.917 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 7.917 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 7.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.917 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.918 * [backup-simplify]: Simplify -0.5 into -0.5 7.918 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.918 * [backup-simplify]: Simplify phi1 into phi1 7.918 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.918 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.918 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.918 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.918 * [backup-simplify]: Simplify (- 0) into 0 7.918 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.918 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.918 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.918 * [backup-simplify]: Simplify 0 into 0 7.918 * [backup-simplify]: Simplify 1 into 1 7.918 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.918 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.919 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.919 * [backup-simplify]: Simplify (* 1 1) into 1 7.919 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.919 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 7.919 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 7.919 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.919 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.919 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.919 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.919 * [backup-simplify]: Simplify -0.5 into -0.5 7.919 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.919 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.919 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.919 * [backup-simplify]: Simplify phi1 into phi1 7.919 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.919 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.919 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.919 * [backup-simplify]: Simplify phi2 into phi2 7.919 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.919 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.920 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.920 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.920 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.920 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.920 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.920 * [backup-simplify]: Simplify (- 0) into 0 7.920 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.920 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 7.920 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.920 * [backup-simplify]: Simplify lambda1 into lambda1 7.921 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.921 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 7.921 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 7.921 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 7.921 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 7.921 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 7.921 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 7.921 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.921 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.921 * [backup-simplify]: Simplify -0.5 into -0.5 7.921 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.921 * [backup-simplify]: Simplify phi2 into phi2 7.921 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.921 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.921 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.921 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.921 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 7.921 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 7.921 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.921 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.921 * [backup-simplify]: Simplify -0.5 into -0.5 7.921 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.922 * [backup-simplify]: Simplify phi1 into phi1 7.922 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.922 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.922 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.922 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.922 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.922 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.922 * [backup-simplify]: Simplify 0 into 0 7.922 * [backup-simplify]: Simplify 1 into 1 7.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.922 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.923 * [backup-simplify]: Simplify (* 1 1) into 1 7.923 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.923 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda2 7.923 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 7.923 * [taylor]: Taking taylor expansion of 2 in lambda2 7.923 * [backup-simplify]: Simplify 2 into 2 7.923 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 7.923 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 7.923 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 7.923 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 7.923 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.923 * [backup-simplify]: Simplify -0.5 into -0.5 7.923 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 7.923 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 7.923 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.923 * [backup-simplify]: Simplify phi1 into phi1 7.923 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.923 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 7.923 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.923 * [backup-simplify]: Simplify phi2 into phi2 7.923 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.923 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.923 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.923 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.924 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.924 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.924 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.924 * [backup-simplify]: Simplify (- 0) into 0 7.924 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.924 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 7.924 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.924 * [backup-simplify]: Simplify 0 into 0 7.924 * [backup-simplify]: Simplify 1 into 1 7.924 * [taylor]: Taking taylor expansion of lambda1 in lambda2 7.924 * [backup-simplify]: Simplify lambda1 into lambda1 7.924 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.924 * [backup-simplify]: Simplify (* 0 lambda1) into 0 7.925 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 7.925 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.925 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda2 7.925 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 7.925 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 7.925 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 7.925 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.925 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.925 * [backup-simplify]: Simplify -0.5 into -0.5 7.925 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.925 * [backup-simplify]: Simplify phi1 into phi1 7.925 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.925 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.925 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.925 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 7.925 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 7.925 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.925 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.925 * [backup-simplify]: Simplify -0.5 into -0.5 7.925 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.925 * [backup-simplify]: Simplify phi2 into phi2 7.925 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.925 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.926 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.926 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 7.926 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 7.926 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.926 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.926 * [backup-simplify]: Simplify -0.5 into -0.5 7.926 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.926 * [backup-simplify]: Simplify phi2 into phi2 7.926 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.926 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.926 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.926 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 7.926 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.926 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.926 * [backup-simplify]: Simplify -0.5 into -0.5 7.926 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.926 * [backup-simplify]: Simplify phi1 into phi1 7.926 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.926 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.926 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.926 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.926 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.926 * [backup-simplify]: Simplify 0 into 0 7.926 * [backup-simplify]: Simplify 1 into 1 7.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.926 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.926 * [backup-simplify]: Simplify (- 0) into 0 7.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.927 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.927 * [backup-simplify]: Simplify (- 0) into 0 7.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.927 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 7.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 7.928 * [backup-simplify]: Simplify (* 1 1) into 1 7.928 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 7.928 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 7.928 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 7.929 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 7.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.929 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.929 * [backup-simplify]: Simplify -0.5 into -0.5 7.929 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.929 * [backup-simplify]: Simplify phi1 into phi1 7.929 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.929 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 7.929 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 7.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.929 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.929 * [backup-simplify]: Simplify -0.5 into -0.5 7.929 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.929 * [backup-simplify]: Simplify phi2 into phi2 7.929 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.929 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 7.929 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 7.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 7.929 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.929 * [backup-simplify]: Simplify -0.5 into -0.5 7.929 * [taylor]: Taking taylor expansion of phi2 in lambda2 7.929 * [backup-simplify]: Simplify phi2 into phi2 7.929 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.929 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 7.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 7.929 * [taylor]: Taking taylor expansion of -0.5 in lambda2 7.929 * [backup-simplify]: Simplify -0.5 into -0.5 7.929 * [taylor]: Taking taylor expansion of phi1 in lambda2 7.929 * [backup-simplify]: Simplify phi1 into phi1 7.929 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.929 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 7.930 * [taylor]: Taking taylor expansion of lambda2 in lambda2 7.930 * [backup-simplify]: Simplify 0 into 0 7.930 * [backup-simplify]: Simplify 1 into 1 7.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.930 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.930 * [backup-simplify]: Simplify (- 0) into 0 7.930 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.930 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.931 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.931 * [backup-simplify]: Simplify (- 0) into 0 7.931 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.931 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.931 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 7.931 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 7.931 * [backup-simplify]: Simplify (* 1 1) into 1 7.932 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 7.932 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.932 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 7.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 7.933 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 7.934 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 7.935 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 7.935 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 7.935 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 7.935 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 7.935 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 7.935 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 7.935 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.935 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.935 * [backup-simplify]: Simplify -0.5 into -0.5 7.935 * [taylor]: Taking taylor expansion of phi2 in phi2 7.935 * [backup-simplify]: Simplify 0 into 0 7.935 * [backup-simplify]: Simplify 1 into 1 7.935 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.936 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.936 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 7.936 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 7.936 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.936 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.936 * [backup-simplify]: Simplify -0.5 into -0.5 7.936 * [taylor]: Taking taylor expansion of phi1 in phi2 7.936 * [backup-simplify]: Simplify phi1 into phi1 7.936 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.936 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.936 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.936 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.936 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.936 * [backup-simplify]: Simplify (- 0) into 0 7.936 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.936 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 7.936 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 7.936 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 7.936 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.936 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.936 * [backup-simplify]: Simplify -0.5 into -0.5 7.936 * [taylor]: Taking taylor expansion of phi2 in phi2 7.936 * [backup-simplify]: Simplify 0 into 0 7.936 * [backup-simplify]: Simplify 1 into 1 7.937 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.937 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.937 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 7.937 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 7.937 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.937 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.937 * [backup-simplify]: Simplify -0.5 into -0.5 7.937 * [taylor]: Taking taylor expansion of phi1 in phi2 7.937 * [backup-simplify]: Simplify phi1 into phi1 7.937 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.937 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.937 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.937 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.937 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.937 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 7.937 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 7.937 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 7.937 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.937 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.937 * [backup-simplify]: Simplify -0.5 into -0.5 7.937 * [taylor]: Taking taylor expansion of phi2 in phi2 7.937 * [backup-simplify]: Simplify 0 into 0 7.937 * [backup-simplify]: Simplify 1 into 1 7.938 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.938 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.938 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 7.938 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 7.938 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.938 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.938 * [backup-simplify]: Simplify -0.5 into -0.5 7.938 * [taylor]: Taking taylor expansion of phi1 in phi2 7.938 * [backup-simplify]: Simplify phi1 into phi1 7.938 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.938 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.938 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.938 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 7.938 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 7.938 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.938 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.938 * [backup-simplify]: Simplify -0.5 into -0.5 7.938 * [taylor]: Taking taylor expansion of phi2 in phi2 7.938 * [backup-simplify]: Simplify 0 into 0 7.938 * [backup-simplify]: Simplify 1 into 1 7.938 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.938 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.938 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 7.938 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.939 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.939 * [backup-simplify]: Simplify -0.5 into -0.5 7.939 * [taylor]: Taking taylor expansion of phi1 in phi2 7.939 * [backup-simplify]: Simplify phi1 into phi1 7.939 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.939 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.939 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.939 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 7.939 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 7.939 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.939 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.939 * [backup-simplify]: Simplify -0.5 into -0.5 7.939 * [taylor]: Taking taylor expansion of phi2 in phi2 7.939 * [backup-simplify]: Simplify 0 into 0 7.939 * [backup-simplify]: Simplify 1 into 1 7.939 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.939 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.939 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 7.939 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 7.939 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.939 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.939 * [backup-simplify]: Simplify -0.5 into -0.5 7.939 * [taylor]: Taking taylor expansion of phi1 in phi2 7.939 * [backup-simplify]: Simplify phi1 into phi1 7.939 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.939 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.939 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.939 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 7.939 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 7.939 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 7.939 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.940 * [backup-simplify]: Simplify -0.5 into -0.5 7.940 * [taylor]: Taking taylor expansion of phi2 in phi2 7.940 * [backup-simplify]: Simplify 0 into 0 7.940 * [backup-simplify]: Simplify 1 into 1 7.940 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.940 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.940 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 7.940 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 7.940 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.940 * [backup-simplify]: Simplify -0.5 into -0.5 7.940 * [taylor]: Taking taylor expansion of phi1 in phi2 7.940 * [backup-simplify]: Simplify phi1 into phi1 7.940 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.940 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.940 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.941 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.941 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.941 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.941 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.941 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 7.941 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.942 * [backup-simplify]: Simplify (- 0) into 0 7.942 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.942 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.942 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.942 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 7.942 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 7.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 7.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.943 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.943 * [backup-simplify]: Simplify (- 0) into 0 7.943 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 7.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 7.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 7.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 7.944 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 7.945 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 7.945 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in phi1 7.945 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 7.945 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 7.945 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 7.946 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.946 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.946 * [backup-simplify]: Simplify -0.5 into -0.5 7.946 * [taylor]: Taking taylor expansion of phi2 in phi1 7.946 * [backup-simplify]: Simplify phi2 into phi2 7.946 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.946 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.946 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.946 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.946 * [backup-simplify]: Simplify (- 0) into 0 7.946 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.946 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 7.946 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.946 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.946 * [backup-simplify]: Simplify -0.5 into -0.5 7.946 * [taylor]: Taking taylor expansion of phi1 in phi1 7.946 * [backup-simplify]: Simplify 0 into 0 7.946 * [backup-simplify]: Simplify 1 into 1 7.947 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.947 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.947 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 7.947 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 7.947 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.947 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.947 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.947 * [backup-simplify]: Simplify -0.5 into -0.5 7.947 * [taylor]: Taking taylor expansion of phi2 in phi1 7.947 * [backup-simplify]: Simplify phi2 into phi2 7.947 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.947 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.947 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.947 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.947 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.947 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.947 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 7.947 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.947 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.947 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.947 * [backup-simplify]: Simplify -0.5 into -0.5 7.947 * [taylor]: Taking taylor expansion of phi1 in phi1 7.948 * [backup-simplify]: Simplify 0 into 0 7.948 * [backup-simplify]: Simplify 1 into 1 7.948 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.948 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in phi1 7.948 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 7.948 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.948 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.948 * [backup-simplify]: Simplify -0.5 into -0.5 7.948 * [taylor]: Taking taylor expansion of phi2 in phi1 7.948 * [backup-simplify]: Simplify phi2 into phi2 7.948 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.948 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.948 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 7.948 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.948 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.948 * [backup-simplify]: Simplify -0.5 into -0.5 7.948 * [taylor]: Taking taylor expansion of phi1 in phi1 7.948 * [backup-simplify]: Simplify 0 into 0 7.948 * [backup-simplify]: Simplify 1 into 1 7.949 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.949 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 7.949 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.949 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.949 * [backup-simplify]: Simplify -0.5 into -0.5 7.949 * [taylor]: Taking taylor expansion of phi1 in phi1 7.949 * [backup-simplify]: Simplify 0 into 0 7.949 * [backup-simplify]: Simplify 1 into 1 7.949 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.949 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.949 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.949 * [backup-simplify]: Simplify -0.5 into -0.5 7.949 * [taylor]: Taking taylor expansion of phi2 in phi1 7.949 * [backup-simplify]: Simplify phi2 into phi2 7.949 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.949 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 7.949 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 7.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.949 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.949 * [backup-simplify]: Simplify -0.5 into -0.5 7.949 * [taylor]: Taking taylor expansion of phi2 in phi1 7.949 * [backup-simplify]: Simplify phi2 into phi2 7.950 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.950 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 7.950 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 7.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.950 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.950 * [backup-simplify]: Simplify -0.5 into -0.5 7.950 * [taylor]: Taking taylor expansion of phi1 in phi1 7.950 * [backup-simplify]: Simplify 0 into 0 7.950 * [backup-simplify]: Simplify 1 into 1 7.950 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.950 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 7.950 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 7.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 7.950 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.950 * [backup-simplify]: Simplify -0.5 into -0.5 7.950 * [taylor]: Taking taylor expansion of phi1 in phi1 7.950 * [backup-simplify]: Simplify 0 into 0 7.950 * [backup-simplify]: Simplify 1 into 1 7.951 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 7.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.951 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 7.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 7.951 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.951 * [backup-simplify]: Simplify -0.5 into -0.5 7.951 * [taylor]: Taking taylor expansion of phi2 in phi1 7.951 * [backup-simplify]: Simplify phi2 into phi2 7.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.951 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 7.951 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 7.951 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 7.951 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 7.951 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 7.952 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 7.952 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 7.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.952 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.953 * [backup-simplify]: Simplify (- 0) into 0 7.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 7.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) 7.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 7.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.954 * [backup-simplify]: Simplify (- 0) into 0 7.954 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 7.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 7.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 7.955 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 7.955 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 7.956 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 7.956 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda1 7.956 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1 7.956 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 7.956 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 7.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.956 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.956 * [backup-simplify]: Simplify -0.5 into -0.5 7.956 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.956 * [backup-simplify]: Simplify phi2 into phi2 7.956 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 7.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 7.957 * [backup-simplify]: Simplify (- 0) into 0 7.957 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 7.957 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 7.957 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.957 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.957 * [backup-simplify]: Simplify -0.5 into -0.5 7.957 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.957 * [backup-simplify]: Simplify phi1 into phi1 7.957 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 7.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 7.958 * [backup-simplify]: Simplify (- 0) into 0 7.958 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 7.958 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 7.958 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 7.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.958 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.958 * [backup-simplify]: Simplify -0.5 into -0.5 7.958 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.958 * [backup-simplify]: Simplify phi2 into phi2 7.958 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 7.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 7.958 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 7.958 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 7.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.958 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.958 * [backup-simplify]: Simplify -0.5 into -0.5 7.958 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.958 * [backup-simplify]: Simplify phi1 into phi1 7.958 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 7.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 7.959 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 7.959 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda1 7.959 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1 7.959 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.959 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.959 * [backup-simplify]: Simplify -0.5 into -0.5 7.959 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.959 * [backup-simplify]: Simplify phi2 into phi2 7.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.959 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1 7.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.959 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.959 * [backup-simplify]: Simplify -0.5 into -0.5 7.959 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.959 * [backup-simplify]: Simplify phi2 into phi2 7.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.959 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1 7.959 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.959 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.959 * [backup-simplify]: Simplify -0.5 into -0.5 7.959 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.959 * [backup-simplify]: Simplify phi1 into phi1 7.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.959 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.959 * [backup-simplify]: Simplify -0.5 into -0.5 7.959 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.960 * [backup-simplify]: Simplify phi1 into phi1 7.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.960 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1 7.960 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 7.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.960 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.960 * [backup-simplify]: Simplify -0.5 into -0.5 7.960 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.960 * [backup-simplify]: Simplify phi2 into phi2 7.960 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.960 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1 7.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 7.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 7.960 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.960 * [backup-simplify]: Simplify -0.5 into -0.5 7.960 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.960 * [backup-simplify]: Simplify phi2 into phi2 7.960 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 7.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 7.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 7.960 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1 7.960 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 7.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.960 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.960 * [backup-simplify]: Simplify -0.5 into -0.5 7.960 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.960 * [backup-simplify]: Simplify phi1 into phi1 7.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 7.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 7.960 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.960 * [backup-simplify]: Simplify -0.5 into -0.5 7.960 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.960 * [backup-simplify]: Simplify phi1 into phi1 7.961 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 7.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 7.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 7.961 * [backup-simplify]: Simplify (+ 0) into 0 7.961 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.961 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.962 * [backup-simplify]: Simplify (- 0) into 0 7.963 * [backup-simplify]: Simplify (+ 0 0) into 0 7.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 7.963 * [backup-simplify]: Simplify (+ 0) into 0 7.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.963 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.964 * [backup-simplify]: Simplify (- 0) into 0 7.965 * [backup-simplify]: Simplify (+ 0 0) into 0 7.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 7.965 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 7.965 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.966 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 7.966 * [backup-simplify]: Simplify (+ 0) into 0 7.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.968 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.968 * [backup-simplify]: Simplify (+ 0 0) into 0 7.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 7.968 * [backup-simplify]: Simplify (+ 0) into 0 7.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.969 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.970 * [backup-simplify]: Simplify (+ 0 0) into 0 7.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 7.970 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 7.970 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.971 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 7.971 * [backup-simplify]: Simplify (+ 0 0) into 0 7.972 * [backup-simplify]: Simplify (+ 0 0) into 0 7.972 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.972 * [backup-simplify]: Simplify (+ 0) into 0 7.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.974 * [backup-simplify]: Simplify (+ 0 0) into 0 7.974 * [backup-simplify]: Simplify (+ 0) into 0 7.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.974 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.975 * [backup-simplify]: Simplify (- 0) into 0 7.976 * [backup-simplify]: Simplify (+ 0 0) into 0 7.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 7.976 * [backup-simplify]: Simplify (+ 0) into 0 7.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.976 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.977 * [backup-simplify]: Simplify (+ 0 0) into 0 7.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 7.978 * [backup-simplify]: Simplify (+ 0) into 0 7.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.979 * [backup-simplify]: Simplify (- 0) into 0 7.980 * [backup-simplify]: Simplify (+ 0 0) into 0 7.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 7.980 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.981 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 7.981 * [backup-simplify]: Simplify (+ 0) into 0 7.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.982 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.983 * [backup-simplify]: Simplify (- 0) into 0 7.983 * [backup-simplify]: Simplify (+ 0 0) into 0 7.983 * [backup-simplify]: Simplify (+ 0) into 0 7.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.984 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.984 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.985 * [backup-simplify]: Simplify (+ 0 0) into 0 7.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 7.985 * [backup-simplify]: Simplify (+ 0) into 0 7.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 7.985 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 7.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 7.986 * [backup-simplify]: Simplify (- 0) into 0 7.987 * [backup-simplify]: Simplify (+ 0 0) into 0 7.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 7.987 * [backup-simplify]: Simplify (+ 0) into 0 7.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 7.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 7.988 * [backup-simplify]: Simplify (+ 0 0) into 0 7.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 7.989 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 7.990 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0 7.990 * [backup-simplify]: Simplify (+ 0 0) into 0 7.990 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.991 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.991 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.991 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2 7.991 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2 7.991 * [taylor]: Taking taylor expansion of 2 in phi2 7.991 * [backup-simplify]: Simplify 2 into 2 7.991 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2 7.991 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 7.991 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 7.991 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 7.991 * [taylor]: Taking taylor expansion of -0.5 in phi2 7.991 * [backup-simplify]: Simplify -0.5 into -0.5 7.991 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 7.991 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 7.991 * [taylor]: Taking taylor expansion of phi1 in phi2 7.991 * [backup-simplify]: Simplify phi1 into phi1 7.991 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.991 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 7.991 * [taylor]: Taking taylor expansion of phi2 in phi2 7.991 * [backup-simplify]: Simplify 0 into 0 7.991 * [backup-simplify]: Simplify 1 into 1 7.991 * [backup-simplify]: Simplify (/ 1 1) into 1 7.992 * [backup-simplify]: Simplify (+ 0 1) into 1 7.992 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.992 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.992 * [taylor]: Taking taylor expansion of lambda1 in phi2 7.992 * [backup-simplify]: Simplify lambda1 into lambda1 7.992 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.993 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.993 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.993 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.993 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi1 7.993 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi1 7.993 * [taylor]: Taking taylor expansion of 2 in phi1 7.993 * [backup-simplify]: Simplify 2 into 2 7.993 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1 7.993 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 7.993 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 7.993 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 7.993 * [taylor]: Taking taylor expansion of -0.5 in phi1 7.993 * [backup-simplify]: Simplify -0.5 into -0.5 7.993 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 7.993 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 7.993 * [taylor]: Taking taylor expansion of phi1 in phi1 7.993 * [backup-simplify]: Simplify 0 into 0 7.993 * [backup-simplify]: Simplify 1 into 1 7.994 * [backup-simplify]: Simplify (/ 1 1) into 1 7.994 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 7.994 * [taylor]: Taking taylor expansion of phi2 in phi1 7.994 * [backup-simplify]: Simplify phi2 into phi2 7.994 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.994 * [backup-simplify]: Simplify (+ 1 0) into 1 7.994 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 7.994 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.995 * [taylor]: Taking taylor expansion of lambda1 in phi1 7.995 * [backup-simplify]: Simplify lambda1 into lambda1 7.995 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.995 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 7.995 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 7.996 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 7.996 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1 7.996 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 7.996 * [taylor]: Taking taylor expansion of 2 in lambda1 7.996 * [backup-simplify]: Simplify 2 into 2 7.996 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 7.996 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 7.996 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 7.996 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 7.996 * [taylor]: Taking taylor expansion of -0.5 in lambda1 7.996 * [backup-simplify]: Simplify -0.5 into -0.5 7.996 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 7.996 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 7.996 * [taylor]: Taking taylor expansion of phi1 in lambda1 7.996 * [backup-simplify]: Simplify phi1 into phi1 7.996 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 7.996 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 7.996 * [taylor]: Taking taylor expansion of phi2 in lambda1 7.996 * [backup-simplify]: Simplify phi2 into phi2 7.997 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 7.997 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 7.997 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 7.997 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.997 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.997 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.997 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 7.997 * [backup-simplify]: Simplify (- 0) into 0 7.998 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 7.998 * [taylor]: Taking taylor expansion of lambda1 in lambda1 7.998 * [backup-simplify]: Simplify 0 into 0 7.998 * [backup-simplify]: Simplify 1 into 1 7.998 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.998 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 7.998 * [backup-simplify]: Simplify (+ 0) into 0 7.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 7.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 7.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 8.000 * [backup-simplify]: Simplify (- 0) into 0 8.000 * [backup-simplify]: Simplify (+ 0 0) into 0 8.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 8.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 8.001 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 8.001 * [backup-simplify]: Simplify (+ 0) into 0 8.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 8.001 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 8.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 8.002 * [backup-simplify]: Simplify (+ 0 0) into 0 8.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 8.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 8.003 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 8.003 * [backup-simplify]: Simplify (+ 0 0) into 0 8.003 * [backup-simplify]: Simplify (+ 0) into 0 8.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 8.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 8.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 8.005 * [backup-simplify]: Simplify (+ 0 0) into 0 8.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 8.005 * [backup-simplify]: Simplify (+ 0) into 0 8.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 8.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 8.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.006 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 8.007 * [backup-simplify]: Simplify (- 0) into 0 8.007 * [backup-simplify]: Simplify (+ 0 0) into 0 8.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 8.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 8.007 * [backup-simplify]: Simplify (+ 0) into 0 8.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 8.008 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 8.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 8.009 * [backup-simplify]: Simplify (- 0) into 0 8.009 * [backup-simplify]: Simplify (+ 0 0) into 0 8.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 8.009 * [backup-simplify]: Simplify (+ 0) into 0 8.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 8.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 8.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 8.011 * [backup-simplify]: Simplify (+ 0 0) into 0 8.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 8.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 8.012 * [backup-simplify]: Simplify (+ 0 0) into 0 8.012 * [backup-simplify]: Simplify (- 0) into 0 8.012 * [backup-simplify]: Simplify (+ 0 0) into 0 8.012 * [taylor]: Taking taylor expansion of 0 in phi1 8.012 * [backup-simplify]: Simplify 0 into 0 8.012 * [taylor]: Taking taylor expansion of 0 in lambda1 8.012 * [backup-simplify]: Simplify 0 into 0 8.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 8.013 * [backup-simplify]: Simplify (+ 0) into 0 8.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 8.013 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 8.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 8.017 * [backup-simplify]: Simplify (- 0) into 0 8.018 * [backup-simplify]: Simplify (+ 0 0) into 0 8.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 8.018 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 8.018 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 8.018 * [backup-simplify]: Simplify (+ 0) into 0 8.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 8.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 8.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 8.020 * [backup-simplify]: Simplify (+ 0 0) into 0 8.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 8.020 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 8.021 * [backup-simplify]: Simplify (+ 0 0) into 0 8.021 * [backup-simplify]: Simplify (+ 0) into 0 8.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 8.021 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 8.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 8.022 * [backup-simplify]: Simplify (- 0) into 0 8.022 * [backup-simplify]: Simplify (+ 0 0) into 0 8.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 8.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 8.023 * [backup-simplify]: Simplify (+ 0) into 0 8.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 8.023 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 8.024 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 8.024 * [backup-simplify]: Simplify (+ 0 0) into 0 8.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 8.025 * [backup-simplify]: Simplify (+ 0) into 0 8.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 8.025 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 8.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 8.026 * [backup-simplify]: Simplify (+ 0 0) into 0 8.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 8.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 8.027 * [backup-simplify]: Simplify (+ 0) into 0 8.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 8.027 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 8.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 8.028 * [backup-simplify]: Simplify (- 0) into 0 8.028 * [backup-simplify]: Simplify (+ 0 0) into 0 8.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 8.029 * [backup-simplify]: Simplify (+ 0 0) into 0 8.029 * [backup-simplify]: Simplify (- 0) into 0 8.030 * [backup-simplify]: Simplify (+ 0 0) into 0 8.030 * [taylor]: Taking taylor expansion of 0 in lambda1 8.030 * [backup-simplify]: Simplify 0 into 0 8.030 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.031 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.032 * [backup-simplify]: Simplify (- 0) into 0 8.032 * [backup-simplify]: Simplify (+ 0 0) into 0 8.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 8.033 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.033 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.034 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.034 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.035 * [backup-simplify]: Simplify (- 0) into 0 8.035 * [backup-simplify]: Simplify (+ 0 0) into 0 8.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 8.036 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 8.036 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.037 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.039 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.039 * [backup-simplify]: Simplify (+ 0 0) into 0 8.040 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 8.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.041 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.042 * [backup-simplify]: Simplify (+ 0 0) into 0 8.042 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 8.043 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 8.043 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.044 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.045 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.045 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.045 * [backup-simplify]: Simplify (+ 0) into 0 8.046 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 8.046 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 8.046 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 8.046 * [backup-simplify]: Simplify (+ 0 0) into 0 8.046 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 8.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 8.047 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 8.047 * [backup-simplify]: Simplify (- 0) into 0 8.048 * [backup-simplify]: Simplify (+ 0 0) into 0 8.048 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.048 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 8.049 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 8.049 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 8.050 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.050 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.051 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.051 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.051 * [backup-simplify]: Simplify (+ 0 0) into 0 8.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.052 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.053 * [backup-simplify]: Simplify (- 0) into 0 8.054 * [backup-simplify]: Simplify (+ 0 0) into 0 8.054 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 8.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.055 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.056 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.056 * [backup-simplify]: Simplify (+ 0 0) into 0 8.057 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 8.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.059 * [backup-simplify]: Simplify (- 0) into 0 8.059 * [backup-simplify]: Simplify (+ 0 0) into 0 8.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into 0 8.060 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.061 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.062 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.063 * [backup-simplify]: Simplify (- 0) into 0 8.063 * [backup-simplify]: Simplify (+ 0 0) into 0 8.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.064 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.066 * [backup-simplify]: Simplify (+ 0 0) into 0 8.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 8.066 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.067 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.067 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.068 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.068 * [backup-simplify]: Simplify (- 0) into 0 8.068 * [backup-simplify]: Simplify (+ 0 0) into 0 8.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 8.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.071 * [backup-simplify]: Simplify (+ 0 0) into 0 8.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))) into 0 8.072 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 8.073 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 8.073 * [backup-simplify]: Simplify (+ 0 0) into 0 8.073 * [backup-simplify]: Simplify (+ 0 0) into 0 8.074 * [backup-simplify]: Simplify (- 0) into 0 8.074 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.074 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 8.074 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 8.074 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 8.074 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 8.074 * [taylor]: Taking taylor expansion of -0.5 in phi2 8.074 * [backup-simplify]: Simplify -0.5 into -0.5 8.074 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 8.074 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 8.074 * [taylor]: Taking taylor expansion of phi1 in phi2 8.074 * [backup-simplify]: Simplify phi1 into phi1 8.074 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.074 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 8.074 * [taylor]: Taking taylor expansion of phi2 in phi2 8.074 * [backup-simplify]: Simplify 0 into 0 8.074 * [backup-simplify]: Simplify 1 into 1 8.074 * [backup-simplify]: Simplify (/ 1 1) into 1 8.075 * [backup-simplify]: Simplify (+ 0 1) into 1 8.075 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.075 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.075 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 8.075 * [taylor]: Taking taylor expansion of lambda1 in phi2 8.075 * [backup-simplify]: Simplify lambda1 into lambda1 8.075 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.075 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.076 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.076 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 8.076 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 8.076 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 8.076 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 8.076 * [taylor]: Taking taylor expansion of -0.5 in phi1 8.076 * [backup-simplify]: Simplify -0.5 into -0.5 8.076 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 8.076 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 8.076 * [taylor]: Taking taylor expansion of phi1 in phi1 8.076 * [backup-simplify]: Simplify 0 into 0 8.076 * [backup-simplify]: Simplify 1 into 1 8.076 * [backup-simplify]: Simplify (/ 1 1) into 1 8.076 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 8.076 * [taylor]: Taking taylor expansion of phi2 in phi1 8.076 * [backup-simplify]: Simplify phi2 into phi2 8.076 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.076 * [backup-simplify]: Simplify (+ 1 0) into 1 8.077 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 8.077 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.077 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 8.077 * [taylor]: Taking taylor expansion of lambda1 in phi1 8.077 * [backup-simplify]: Simplify lambda1 into lambda1 8.077 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.077 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 8.077 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 8.078 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 8.078 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 8.078 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 8.078 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 8.078 * [taylor]: Taking taylor expansion of -0.5 in lambda1 8.078 * [backup-simplify]: Simplify -0.5 into -0.5 8.078 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 8.078 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 8.078 * [taylor]: Taking taylor expansion of phi1 in lambda1 8.078 * [backup-simplify]: Simplify phi1 into phi1 8.078 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 8.078 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 8.078 * [taylor]: Taking taylor expansion of phi2 in lambda1 8.078 * [backup-simplify]: Simplify phi2 into phi2 8.078 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 8.078 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 8.078 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 8.078 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.078 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.078 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.078 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 8.079 * [backup-simplify]: Simplify (- 0) into 0 8.079 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 8.079 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 8.079 * [taylor]: Taking taylor expansion of lambda1 in lambda1 8.079 * [backup-simplify]: Simplify 0 into 0 8.079 * [backup-simplify]: Simplify 1 into 1 8.079 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.080 * [backup-simplify]: Simplify (* 1 1) into 1 8.080 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.080 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 8.080 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.080 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 8.081 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 8.081 * [backup-simplify]: Simplify (- 0) into 0 8.081 * [taylor]: Taking taylor expansion of 0 in phi1 8.081 * [backup-simplify]: Simplify 0 into 0 8.081 * [taylor]: Taking taylor expansion of 0 in lambda1 8.081 * [backup-simplify]: Simplify 0 into 0 8.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.082 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.083 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.083 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.084 * [backup-simplify]: Simplify (- 0) into 0 8.084 * [backup-simplify]: Simplify (+ 0 0) into 0 8.084 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 8.084 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 8.085 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 8.085 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.087 * [backup-simplify]: Simplify (+ 0 0) into 0 8.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 8.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 8.088 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 8.089 * [backup-simplify]: Simplify (+ 0 0) into 0 8.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.091 * [backup-simplify]: Simplify (+ 0 0) into 0 8.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 8.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.093 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.093 * [backup-simplify]: Simplify (- 0) into 0 8.093 * [backup-simplify]: Simplify (+ 0 0) into 0 8.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 8.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into 0 8.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.095 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.095 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.096 * [backup-simplify]: Simplify (- 0) into 0 8.097 * [backup-simplify]: Simplify (+ 0 0) into 0 8.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 8.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 8.098 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 8.099 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 8.099 * [backup-simplify]: Simplify (+ 0 0) into 0 8.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 8.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into 0 8.100 * [backup-simplify]: Simplify (+ 0 0) into 0 8.101 * [backup-simplify]: Simplify (- 0) into 0 8.101 * [backup-simplify]: Simplify (+ 0 0) into 0 8.101 * [taylor]: Taking taylor expansion of 0 in phi1 8.101 * [backup-simplify]: Simplify 0 into 0 8.101 * [taylor]: Taking taylor expansion of 0 in lambda1 8.101 * [backup-simplify]: Simplify 0 into 0 8.101 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 8.101 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 8.102 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 8.102 * [backup-simplify]: Simplify (- 0) into 0 8.102 * [taylor]: Taking taylor expansion of 0 in lambda1 8.102 * [backup-simplify]: Simplify 0 into 0 8.102 * [taylor]: Taking taylor expansion of 0 in lambda1 8.102 * [backup-simplify]: Simplify 0 into 0 8.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 8.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.104 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 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 (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 8.106 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 8.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 8.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.107 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.111 * [backup-simplify]: Simplify (+ 0 0) into 0 8.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 8.112 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 8.113 * [backup-simplify]: Simplify (+ 0 0) into 0 8.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.114 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.115 * [backup-simplify]: Simplify (- 0) into 0 8.115 * [backup-simplify]: Simplify (+ 0 0) into 0 8.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 8.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 8.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.118 * [backup-simplify]: Simplify (+ 0 0) into 0 8.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0 8.119 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.120 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.121 * [backup-simplify]: Simplify (+ 0 0) into 0 8.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 8.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 8.122 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 8.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 8.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 8.123 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 8.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 8.123 * [backup-simplify]: Simplify (- 0) into 0 8.124 * [backup-simplify]: Simplify (+ 0 0) into 0 8.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0 8.124 * [backup-simplify]: Simplify (+ 0 0) into 0 8.125 * [backup-simplify]: Simplify (- 0) into 0 8.125 * [backup-simplify]: Simplify (+ 0 0) into 0 8.125 * [taylor]: Taking taylor expansion of 0 in lambda1 8.125 * [backup-simplify]: Simplify 0 into 0 8.125 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 8.125 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 8.126 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 8.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 8.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 8.126 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 8.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 8.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 8.126 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 8.127 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 8.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 8.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 8.127 * [backup-simplify]: Simplify (- 0) into 0 8.127 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 8.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 8.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 8.128 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 8.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 8.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 8.128 * [backup-simplify]: Simplify (- 0) into 0 8.128 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 8.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 8.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 8.128 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 8.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 8.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 8.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 8.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 8.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 8.129 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 8.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 8.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 8.129 * [backup-simplify]: Simplify (- 0) into 0 8.129 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 8.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 8.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 8.129 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 8.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 8.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 8.130 * [backup-simplify]: Simplify (- 0) into 0 8.130 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 8.130 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 8.130 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 8.130 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 8.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 8.131 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 8.132 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 8.133 * [backup-simplify]: Simplify (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 8.136 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))))))) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda2)))))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 (/ 1 (/ 1 (- lambda2))))))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) 8.137 * * * [progress]: simplifying candidates 8.139 * [simplify]: Simplifying: (log (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 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(- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- lambda1 lambda2) (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))))))) (+ (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 3)))))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) 8.141 * [simplify]: Sending expressions to egg_math: (log (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (exp (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (* (cbrt (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (cbrt (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))))) (cbrt (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (* (* (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (* (cbrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (cbrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))))) (sqrt (cbrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt 1) (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (sqrt (+ (* (- (pow (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) 3) (pow (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) 3)) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (* (+ (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (- (pow h1 3) (pow h0 3)) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0)))))) (sqrt (+ (* (- (pow (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) 3) (pow (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) 3)) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ h1 h0))) (* (+ (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (- (pow h1 3) (pow h0 3)) (- (* h1 h1) (* h0 h0)))))) (sqrt (* (+ (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))) (+ h1 h0)))) (sqrt (+ (* (- (pow (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) 3) (pow (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) 3)) (* (+ h1 h0) (+ (* h1 h1) (+ (* h0 h0) (* h1 h0))))) (* (+ (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (* (- (* h1 h1) (* h0 h0)) (- (pow h1 3) (pow h0 3)))))) (sqrt (* (+ (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* 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(pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))))) (sqrt (- (* (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (* (- h1 h0) (- h1 h0)) (* (- h1 h0) (- h1 h0))))) (sqrt (- (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0)))) (/ 1 2) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (sqrt (sqrt (+ (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (- h1 h0) (- h1 h0))))) (* (cos (* h3 h0)) (cos (* h3 h1))) (* (sin (* h3 h0)) (sin (* h3 h1))) (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3))) (log (cos (* h3 (+ h0 h1)))) (exp (cos (* h3 (+ h0 h1)))) (* (cbrt (cos (* h3 (+ h0 h1)))) (cbrt (cos (* h3 (+ h0 h1))))) (cbrt (cos (* h3 (+ h0 h1)))) (* (* (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1)))) (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (* (cos (* h3 h0)) (cos (* h3 h1))) (* (sin (* h3 h0)) (sin (* h3 h1))) (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3))) (log (cos (* h3 (+ h0 h1)))) (exp (cos (* h3 (+ h0 h1)))) (* (cbrt (cos (* h3 (+ h0 h1)))) (cbrt (cos (* h3 (+ h0 h1))))) (cbrt (cos (* h3 (+ h0 h1)))) (* (* (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1)))) (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (sqrt (cos (* h3 (+ h0 h1)))) (/ (* (exp (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2))) (exp (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (exp (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (/ (exp (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (exp (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (log (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (exp (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (cbrt (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (cbrt (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (cbrt (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (* (* (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (sqrt (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (sqrt (- (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (- (pow (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) 3) (pow (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) 3)) (+ (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (+ (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))))) (- (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- (* (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)))) (* (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))))) (+ (+ (* (pow h4 2) (pow (- (* (cos (* h0 h3)) (cos (* h1 h3))) (* (sin (* h0 h3)) (sin (* h1 h3)))) 2)) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2))) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)) (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2)))) (- h2 h4) (- (+ (* (/ (* h0 (* (pow (cos (* h3 (+ h0 h1))) 2) (* h2 h1))) (pow h4 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* h3 h1)) 2) (pow (sin (* h3 h0)) 2)) (* (pow (cos (* h3 h1)) 2) (pow (cos (* h3 h0)) 2))) (* 2 (* (cos (* h3 h1)) (* (sin (* h3 h1)) (* (cos (* h3 h0)) (sin (* h3 h0))))))) 3)))) (+ (* (* (pow (cos (* h3 (+ h0 h1))) 2) h2) (sqrt (/ 1 (- (+ (* (pow (sin (* h3 h1)) 2) (pow (sin (* h3 h0)) 2)) (* (pow (cos (* h3 h1)) 2) (pow (cos (* h3 h0)) 2))) (* 2 (* (cos (* h3 h1)) (* (sin (* h3 h1)) (* (cos (* h3 h0)) (sin (* h3 h0)))))))))) (* (/ (* h0 h1) h4) (sqrt (/ 1 (- (+ (* (pow (sin (* h3 h1)) 2) (pow (sin (* h3 h0)) 2)) (* (pow (cos (* h3 h1)) 2) (pow (cos (* h3 h0)) 2))) (* 2 (* (cos (* h3 h1)) (* (sin (* h3 h1)) (* (cos (* h3 h0)) (sin (* h3 h0))))))))))))) (+ (* (/ (* h0 h1) h4) (sqrt (/ 1 (- (+ (* (pow (cos (* h3 h0)) 2) (pow (cos (* h3 h1)) 2)) (* (pow (sin (* h3 h0)) 2) (pow (sin (* h3 h1)) 2))) (* 2 (* (cos (* h3 h0)) (* (sin (* h3 h0)) (* (cos (* h3 h1)) (sin (* h3 h1)))))))))) (+ (* (* (pow (cos (* h3 (+ h0 h1))) 2) h2) (sqrt (/ 1 (- (+ (* (pow (cos (* h3 h0)) 2) (pow (cos (* h3 h1)) 2)) (* (pow (sin (* h3 h0)) 2) (pow (sin (* h3 h1)) 2))) (* 2 (* (cos (* h3 h0)) (* (sin (* h3 h0)) (* (cos (* h3 h1)) (sin (* h3 h1)))))))))) (* (/ (* h0 (* (pow (cos (* h3 (+ h0 h1))) 2) (* h2 h1))) (pow h4 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (* h3 h0)) 2) (pow (cos (* h3 h1)) 2)) (* (pow (sin (* h3 h0)) 2) (pow (sin (* h3 h1)) 2))) (* 2 (* (cos (* h3 h0)) (* (sin (* h3 h0)) (* (cos (* h3 h1)) (sin (* h3 h1))))))) 3)))))) (- 1 (+ (* h6 (* h0 h1)) (* h5 (pow h0 2)))) (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1))) (- 1 (+ (* h6 (* h0 h1)) (* h5 (pow h0 2)))) (cos (* h3 (+ h0 h1))) (cos (* h3 (+ h0 h1))) (- (+ (pow h2 2) (pow h4 2)) (* 2 (* h4 h2))) (- (+ (* (pow (cos (* h3 h1)) 2) (* (pow h4 2) (pow (cos (* h3 h0)) 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)) (* (pow (sin (* h3 h1)) 2) (* (pow h4 2) (pow (sin (* h3 h0)) 2))))) (+ (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* 2 (* (cos (* h3 h1)) (* (sin (* h3 h1)) (* (pow h4 2) (* (sin (* h3 h0)) (cos (* h3 h0))))))))) (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h4 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h2 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h4 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h4 2))))) (+ (* 2 (* h4 (* (pow (cos (* h3 (+ h0 h1))) 2) h2))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h4 2)))))))) 8.254 * * * [progress]: adding candidates to table 8.890 * * [progress]: iteration 4 / 4 8.891 * * * [progress]: picking best candidate 8.960 * * * * [pick]: Picked # 8.960 * * * [progress]: localizing error 9.057 * * * [progress]: generating rewritten candidates 9.057 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 14.696 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 1 2 2 2) 14.727 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1) 15.833 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 1 2 2) 15.909 * * * [progress]: generating series expansions 15.909 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 15.912 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) 15.912 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in (phi2 phi1 lambda2 lambda1) around 0 15.912 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda1 15.912 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda1 15.912 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) in lambda1 15.912 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 15.912 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 15.912 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 15.912 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 15.912 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.912 * [backup-simplify]: Simplify 0.5 into 0.5 15.912 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.912 * [backup-simplify]: Simplify phi2 into phi2 15.912 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.912 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.912 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.912 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.912 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.912 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.912 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 15.912 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.912 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.912 * [backup-simplify]: Simplify lambda2 into lambda2 15.912 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 15.912 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 15.912 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 15.913 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.913 * [backup-simplify]: Simplify 0.5 into 0.5 15.913 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.913 * [backup-simplify]: Simplify phi1 into phi1 15.913 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.913 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.913 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.913 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.913 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.913 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.913 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) in lambda1 15.913 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.913 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.913 * [backup-simplify]: Simplify phi2 into phi2 15.913 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) in lambda1 15.913 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 15.913 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 15.913 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 15.913 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 15.913 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.913 * [backup-simplify]: Simplify 0.5 into 0.5 15.913 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 15.913 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.913 * [backup-simplify]: Simplify phi2 into phi2 15.913 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.913 * [backup-simplify]: Simplify phi1 into phi1 15.913 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 15.913 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 15.913 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 15.913 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 15.913 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 15.913 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 15.914 * [backup-simplify]: Simplify (- 0) into 0 15.914 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 15.914 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.914 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.914 * [backup-simplify]: Simplify 0 into 0 15.914 * [backup-simplify]: Simplify 1 into 1 15.914 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) in lambda1 15.914 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.914 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.914 * [backup-simplify]: Simplify phi1 into phi1 15.914 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 15.914 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 15.914 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 15.914 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 15.914 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.914 * [backup-simplify]: Simplify 0.5 into 0.5 15.914 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.914 * [backup-simplify]: Simplify phi2 into phi2 15.914 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.914 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.915 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.915 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.915 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.915 * [backup-simplify]: Simplify (- 0) into 0 15.915 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.915 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 15.915 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 15.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 15.915 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 15.915 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.915 * [backup-simplify]: Simplify 0.5 into 0.5 15.915 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.915 * [backup-simplify]: Simplify phi1 into phi1 15.915 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.915 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.915 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.915 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.915 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.916 * [backup-simplify]: Simplify (- 0) into 0 15.916 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.916 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.916 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.916 * [backup-simplify]: Simplify lambda2 into lambda2 15.916 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1 15.916 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1 15.916 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 15.916 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 15.916 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.916 * [backup-simplify]: Simplify 0.5 into 0.5 15.916 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.916 * [backup-simplify]: Simplify phi1 into phi1 15.916 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.916 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.916 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.916 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 15.916 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 15.916 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 15.916 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.916 * [backup-simplify]: Simplify 0.5 into 0.5 15.916 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.916 * [backup-simplify]: Simplify phi2 into phi2 15.916 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.916 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.916 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.916 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 15.916 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 15.916 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 15.916 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.916 * [backup-simplify]: Simplify 0.5 into 0.5 15.916 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.916 * [backup-simplify]: Simplify phi2 into phi2 15.916 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.916 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.916 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.916 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 15.917 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 15.917 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 15.917 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.917 * [backup-simplify]: Simplify 0.5 into 0.5 15.917 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.917 * [backup-simplify]: Simplify phi1 into phi1 15.917 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.917 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.917 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.917 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.917 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.917 * [backup-simplify]: Simplify lambda2 into lambda2 15.917 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1 15.917 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in lambda1 15.917 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 15.917 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 15.917 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.917 * [backup-simplify]: Simplify 0.5 into 0.5 15.917 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.917 * [backup-simplify]: Simplify phi2 into phi2 15.917 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.917 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.917 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.917 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in lambda1 15.917 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 15.917 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 15.917 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.917 * [backup-simplify]: Simplify 0.5 into 0.5 15.917 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.917 * [backup-simplify]: Simplify phi1 into phi1 15.917 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.917 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.917 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.917 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in lambda1 15.917 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 15.917 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 15.917 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.917 * [backup-simplify]: Simplify 0.5 into 0.5 15.917 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.917 * [backup-simplify]: Simplify phi1 into phi1 15.917 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.917 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.918 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.918 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in lambda1 15.918 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 15.918 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 15.918 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.918 * [backup-simplify]: Simplify 0.5 into 0.5 15.918 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.918 * [backup-simplify]: Simplify phi2 into phi2 15.918 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.918 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.918 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.918 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.918 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.918 * [backup-simplify]: Simplify lambda2 into lambda2 15.918 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1 15.918 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1 15.918 * [taylor]: Taking taylor expansion of 2 in lambda1 15.918 * [backup-simplify]: Simplify 2 into 2 15.918 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 15.918 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.918 * [backup-simplify]: Simplify phi2 into phi2 15.918 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.918 * [backup-simplify]: Simplify phi1 into phi1 15.918 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 15.918 * [taylor]: Taking taylor expansion of 2 in lambda1 15.918 * [backup-simplify]: Simplify 2 into 2 15.918 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 15.918 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.918 * [backup-simplify]: Simplify lambda2 into lambda2 15.918 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 15.918 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 15.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 15.918 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 15.918 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.918 * [backup-simplify]: Simplify 0.5 into 0.5 15.918 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 15.918 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.918 * [backup-simplify]: Simplify phi2 into phi2 15.918 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.918 * [backup-simplify]: Simplify phi1 into phi1 15.918 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 15.918 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 15.918 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 15.918 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 15.918 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 15.919 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 15.919 * [backup-simplify]: Simplify (- 0) into 0 15.919 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 15.919 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.919 * [backup-simplify]: Simplify 0 into 0 15.919 * [backup-simplify]: Simplify 1 into 1 15.919 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 15.919 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.919 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 15.919 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 15.920 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) 15.920 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.920 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.920 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.920 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 15.920 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.920 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 15.920 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) 15.921 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)) 15.921 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)) 15.922 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (pow phi2 2))) 15.922 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (pow phi2 2)))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) 15.922 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.923 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.923 * [backup-simplify]: Simplify (- 0) into 0 15.923 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.923 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.923 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.923 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.923 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.923 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.923 * [backup-simplify]: Simplify (- 0) into 0 15.923 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.924 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.924 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.924 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.924 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.924 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 15.924 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) 15.924 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1))))) 15.924 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1)))))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 15.924 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.925 * [backup-simplify]: Simplify (- 0) into 0 15.925 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.925 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.925 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.925 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.925 * [backup-simplify]: Simplify (- 0) into 0 15.925 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.926 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.926 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.926 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.926 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (pow lambda2 2)) into (* (sin (* 0.5 phi2)) (pow lambda2 2)) 15.926 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) 15.926 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (sin (* 0.5 phi2))))) 15.926 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (sin (* 0.5 phi2)))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) 15.926 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.926 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 15.927 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 15.927 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0 15.927 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.927 * [backup-simplify]: Simplify (* 2 0) into 0 15.927 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 15.927 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2 (* phi2 phi1))) into (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2 (* phi2 phi1))) 15.928 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2 (* phi2 phi1)))) into (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) 15.929 * [backup-simplify]: Simplify (- (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) into (- (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) 15.931 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (- (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) 15.933 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))))) 15.933 * [backup-simplify]: Simplify (+ 0) into 0 15.934 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 15.934 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 15.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.935 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 15.935 * [backup-simplify]: Simplify (+ 0 0) into 0 15.935 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 15.935 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.935 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 15.936 * [backup-simplify]: Simplify (+ 0) into 0 15.936 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 15.936 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 15.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.937 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 15.937 * [backup-simplify]: Simplify (+ 0 0) into 0 15.937 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0 15.938 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 15.938 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.938 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.938 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.938 * [backup-simplify]: Simplify (+ 0) into 0 15.938 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 15.939 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 15.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.939 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 15.940 * [backup-simplify]: Simplify (- 0) into 0 15.940 * [backup-simplify]: Simplify (+ 0 0) into 0 15.940 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 15.940 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 15.940 * [backup-simplify]: Simplify (+ 0) into 0 15.941 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.941 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 15.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.942 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 15.942 * [backup-simplify]: Simplify (- 0) into 0 15.942 * [backup-simplify]: Simplify (+ 0 0) into 0 15.942 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 15.943 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 15.943 * [backup-simplify]: Simplify (+ 0 0) into 0 15.943 * [backup-simplify]: Simplify (+ 0 0) into 0 15.943 * [backup-simplify]: Simplify (+ 0 0) into 0 15.944 * [backup-simplify]: Simplify (+ 0 0) into 0 15.948 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.949 * [backup-simplify]: Simplify (+ 0) into 0 15.949 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 15.949 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 15.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.950 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 15.950 * [backup-simplify]: Simplify (+ 0 0) into 0 15.950 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 15.951 * [backup-simplify]: Simplify (+ 0) into 0 15.951 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.951 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 15.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.952 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 15.952 * [backup-simplify]: Simplify (- 0) into 0 15.952 * [backup-simplify]: Simplify (+ 0 0) into 0 15.953 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 15.953 * [backup-simplify]: Simplify (+ 0) into 0 15.953 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 15.954 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 15.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.955 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 15.955 * [backup-simplify]: Simplify (+ 0 0) into 0 15.955 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 15.955 * [backup-simplify]: Simplify (+ 0) into 0 15.956 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 15.956 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 15.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.957 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 15.957 * [backup-simplify]: Simplify (- 0) into 0 15.957 * [backup-simplify]: Simplify (+ 0 0) into 0 15.957 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1))))))) into 0 15.957 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.958 * [backup-simplify]: Simplify (+ 0) into 0 15.958 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 15.958 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 15.959 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.959 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 15.959 * [backup-simplify]: Simplify (+ 0 0) into 0 15.959 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (pow lambda2 2))) into 0 15.960 * [backup-simplify]: Simplify (+ 0) into 0 15.960 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 15.960 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 15.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.961 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 15.961 * [backup-simplify]: Simplify (- 0) into 0 15.961 * [backup-simplify]: Simplify (+ 0 0) into 0 15.962 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi2)) (pow lambda2 2)))) into 0 15.962 * [backup-simplify]: Simplify (+ 0) into 0 15.962 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 15.963 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 15.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.963 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 15.964 * [backup-simplify]: Simplify (+ 0 0) into 0 15.964 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) into 0 15.964 * [backup-simplify]: Simplify (+ 0) into 0 15.964 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.965 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 15.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.965 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 15.966 * [backup-simplify]: Simplify (- 0) into 0 15.966 * [backup-simplify]: Simplify (+ 0 0) into 0 15.966 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (sin (* 0.5 phi2))))))) into 0 15.966 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 15.967 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 15.967 * [backup-simplify]: Simplify (+ 0) into 0 15.967 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 15.967 * [backup-simplify]: Simplify (+ 0 0) into 0 15.968 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 15.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.968 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 15.969 * [backup-simplify]: Simplify (- 0) into 0 15.969 * [backup-simplify]: Simplify (+ 0 0) into 0 15.969 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 15.969 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 15.970 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 15.970 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 15.971 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 15.971 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 15.971 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) 15.971 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 15.971 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 15.974 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))))))) 15.974 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda2 15.974 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2 15.974 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) in lambda2 15.974 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 15.974 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 15.974 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.974 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.974 * [backup-simplify]: Simplify 0.5 into 0.5 15.974 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.974 * [backup-simplify]: Simplify phi2 into phi2 15.974 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.974 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.974 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.974 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.974 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.974 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.974 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 15.974 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.974 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.974 * [backup-simplify]: Simplify 0 into 0 15.974 * [backup-simplify]: Simplify 1 into 1 15.974 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 15.974 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.974 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.974 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.974 * [backup-simplify]: Simplify 0.5 into 0.5 15.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.974 * [backup-simplify]: Simplify phi1 into phi1 15.974 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.974 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.974 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.975 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.975 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.975 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.975 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) in lambda2 15.975 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.975 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.975 * [backup-simplify]: Simplify phi2 into phi2 15.975 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) in lambda2 15.975 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 15.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 15.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 15.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 15.975 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.975 * [backup-simplify]: Simplify 0.5 into 0.5 15.975 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 15.975 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.975 * [backup-simplify]: Simplify phi2 into phi2 15.975 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.975 * [backup-simplify]: Simplify phi1 into phi1 15.975 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 15.975 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 15.975 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 15.975 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 15.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 15.975 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 15.976 * [backup-simplify]: Simplify (- 0) into 0 15.976 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 15.976 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.976 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.976 * [backup-simplify]: Simplify lambda1 into lambda1 15.976 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) in lambda2 15.976 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.976 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.976 * [backup-simplify]: Simplify phi1 into phi1 15.976 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 15.976 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 15.976 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.976 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.976 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.976 * [backup-simplify]: Simplify 0.5 into 0.5 15.976 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.976 * [backup-simplify]: Simplify phi2 into phi2 15.976 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.976 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.976 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.976 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.976 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.976 * [backup-simplify]: Simplify (- 0) into 0 15.977 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.977 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 15.977 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 15.977 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.977 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.977 * [backup-simplify]: Simplify 0.5 into 0.5 15.977 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.977 * [backup-simplify]: Simplify phi1 into phi1 15.977 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.977 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.977 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.977 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.977 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.977 * [backup-simplify]: Simplify (- 0) into 0 15.977 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.977 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.977 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.977 * [backup-simplify]: Simplify 0 into 0 15.977 * [backup-simplify]: Simplify 1 into 1 15.977 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2 15.977 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2 15.977 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.977 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.977 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.977 * [backup-simplify]: Simplify 0.5 into 0.5 15.977 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.977 * [backup-simplify]: Simplify phi1 into phi1 15.977 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.978 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.978 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.978 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 15.978 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.978 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.978 * [backup-simplify]: Simplify 0.5 into 0.5 15.978 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.978 * [backup-simplify]: Simplify phi2 into phi2 15.978 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.978 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.978 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.978 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 15.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.978 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.978 * [backup-simplify]: Simplify 0.5 into 0.5 15.978 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.978 * [backup-simplify]: Simplify phi2 into phi2 15.978 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.978 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.978 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.978 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 15.978 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.978 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.978 * [backup-simplify]: Simplify 0.5 into 0.5 15.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.978 * [backup-simplify]: Simplify phi1 into phi1 15.978 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.978 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.978 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.978 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.978 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.978 * [backup-simplify]: Simplify 0 into 0 15.978 * [backup-simplify]: Simplify 1 into 1 15.978 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2 15.978 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in lambda2 15.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.978 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.979 * [backup-simplify]: Simplify 0.5 into 0.5 15.979 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.979 * [backup-simplify]: Simplify phi2 into phi2 15.979 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.979 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.979 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.979 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in lambda2 15.979 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.979 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.979 * [backup-simplify]: Simplify 0.5 into 0.5 15.979 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.979 * [backup-simplify]: Simplify phi1 into phi1 15.979 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.979 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.979 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.979 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in lambda2 15.979 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.979 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.979 * [backup-simplify]: Simplify 0.5 into 0.5 15.979 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.979 * [backup-simplify]: Simplify phi1 into phi1 15.979 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.979 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.979 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.979 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in lambda2 15.979 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.979 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.979 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.979 * [backup-simplify]: Simplify 0.5 into 0.5 15.979 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.979 * [backup-simplify]: Simplify phi2 into phi2 15.979 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.979 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.979 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.979 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.979 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.979 * [backup-simplify]: Simplify 0 into 0 15.979 * [backup-simplify]: Simplify 1 into 1 15.979 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2 15.979 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 15.979 * [taylor]: Taking taylor expansion of 2 in lambda2 15.980 * [backup-simplify]: Simplify 2 into 2 15.980 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 15.980 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.980 * [backup-simplify]: Simplify phi2 into phi2 15.980 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.980 * [backup-simplify]: Simplify phi1 into phi1 15.980 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 15.980 * [taylor]: Taking taylor expansion of 2 in lambda2 15.980 * [backup-simplify]: Simplify 2 into 2 15.980 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 15.980 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.980 * [backup-simplify]: Simplify 0 into 0 15.980 * [backup-simplify]: Simplify 1 into 1 15.980 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 15.980 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 15.980 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 15.980 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 15.980 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.980 * [backup-simplify]: Simplify 0.5 into 0.5 15.980 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 15.980 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.980 * [backup-simplify]: Simplify phi2 into phi2 15.980 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.980 * [backup-simplify]: Simplify phi1 into phi1 15.980 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 15.980 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 15.980 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 15.980 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 15.980 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 15.980 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 15.981 * [backup-simplify]: Simplify (- 0) into 0 15.981 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 15.981 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.981 * [backup-simplify]: Simplify lambda1 into lambda1 15.981 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.981 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 15.981 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.981 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 15.981 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.981 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 15.981 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) 15.982 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 15.982 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) 15.982 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.982 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 15.983 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 15.983 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 15.983 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0 15.983 * [backup-simplify]: Simplify (* 2 0) into 0 15.983 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1)) 15.983 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 15.983 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 15.983 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 15.984 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) 15.984 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) 15.985 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.985 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.985 * [backup-simplify]: Simplify (+ 0) into 0 15.985 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 15.985 * [backup-simplify]: Simplify (+ 0 0) into 0 15.986 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 15.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.987 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 15.987 * [backup-simplify]: Simplify (- 0) into 0 15.987 * [backup-simplify]: Simplify (+ 0 0) into 0 15.987 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 15.987 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0 15.987 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.988 * [backup-simplify]: Simplify (+ 0 0) into 0 15.988 * [backup-simplify]: Simplify (+ 0 0) into 0 15.988 * [backup-simplify]: Simplify (+ 0 0) into 0 15.988 * [backup-simplify]: Simplify (+ 0 0) into 0 15.988 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 15.989 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 15.989 * [backup-simplify]: Simplify (+ 0) into 0 15.989 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 15.989 * [backup-simplify]: Simplify (+ 0 0) into 0 15.990 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 15.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.991 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 15.991 * [backup-simplify]: Simplify (- 0) into 0 15.991 * [backup-simplify]: Simplify (+ 0 0) into 0 15.991 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 15.991 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0 15.992 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) 15.992 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 15.992 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 15.993 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 15.993 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 15.993 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 15.993 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 15.994 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 15.994 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi1 15.994 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi1 15.994 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) in phi1 15.994 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 15.994 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 15.994 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 15.994 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 15.994 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.994 * [backup-simplify]: Simplify 0.5 into 0.5 15.994 * [taylor]: Taking taylor expansion of phi2 in phi1 15.994 * [backup-simplify]: Simplify phi2 into phi2 15.994 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.994 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.995 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.995 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.995 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.995 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.995 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 15.995 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.995 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.995 * [backup-simplify]: Simplify lambda2 into lambda2 15.995 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 15.995 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 15.995 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.995 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.995 * [backup-simplify]: Simplify 0.5 into 0.5 15.995 * [taylor]: Taking taylor expansion of phi1 in phi1 15.995 * [backup-simplify]: Simplify 0 into 0 15.995 * [backup-simplify]: Simplify 1 into 1 15.995 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.996 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.998 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) in phi1 15.998 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.998 * [taylor]: Taking taylor expansion of phi2 in phi1 15.998 * [backup-simplify]: Simplify phi2 into phi2 15.998 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) in phi1 15.998 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 15.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 15.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 15.998 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 15.998 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.998 * [backup-simplify]: Simplify 0.5 into 0.5 15.998 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 15.998 * [taylor]: Taking taylor expansion of phi2 in phi1 15.998 * [backup-simplify]: Simplify phi2 into phi2 15.998 * [taylor]: Taking taylor expansion of phi1 in phi1 15.998 * [backup-simplify]: Simplify 0 into 0 15.998 * [backup-simplify]: Simplify 1 into 1 15.998 * [backup-simplify]: Simplify (+ phi2 0) into phi2 15.998 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.998 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.998 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.998 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.998 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.998 * [backup-simplify]: Simplify (- 0) into 0 15.999 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.999 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.999 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.999 * [backup-simplify]: Simplify lambda1 into lambda1 15.999 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) in phi1 15.999 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.999 * [taylor]: Taking taylor expansion of phi1 in phi1 15.999 * [backup-simplify]: Simplify 0 into 0 15.999 * [backup-simplify]: Simplify 1 into 1 15.999 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 15.999 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 15.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 15.999 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 15.999 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.999 * [backup-simplify]: Simplify 0.5 into 0.5 15.999 * [taylor]: Taking taylor expansion of phi2 in phi1 15.999 * [backup-simplify]: Simplify phi2 into phi2 15.999 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.999 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.999 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.999 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.999 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.999 * [backup-simplify]: Simplify (- 0) into 0 15.999 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.999 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 15.999 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 15.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 15.999 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 15.999 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.999 * [backup-simplify]: Simplify 0.5 into 0.5 16.000 * [taylor]: Taking taylor expansion of phi1 in phi1 16.000 * [backup-simplify]: Simplify 0 into 0 16.000 * [backup-simplify]: Simplify 1 into 1 16.000 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.001 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.001 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.001 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.001 * [backup-simplify]: Simplify lambda2 into lambda2 16.001 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1 16.001 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1 16.001 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.001 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.001 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.001 * [backup-simplify]: Simplify 0.5 into 0.5 16.001 * [taylor]: Taking taylor expansion of phi1 in phi1 16.001 * [backup-simplify]: Simplify 0 into 0 16.001 * [backup-simplify]: Simplify 1 into 1 16.001 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.002 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.002 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 16.002 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 16.002 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.002 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.002 * [backup-simplify]: Simplify 0.5 into 0.5 16.002 * [taylor]: Taking taylor expansion of phi2 in phi1 16.002 * [backup-simplify]: Simplify phi2 into phi2 16.002 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.002 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.002 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.002 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 16.002 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 16.002 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.002 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.003 * [backup-simplify]: Simplify 0.5 into 0.5 16.003 * [taylor]: Taking taylor expansion of phi2 in phi1 16.003 * [backup-simplify]: Simplify phi2 into phi2 16.003 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.003 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.003 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.003 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 16.003 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.003 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.003 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.003 * [backup-simplify]: Simplify 0.5 into 0.5 16.003 * [taylor]: Taking taylor expansion of phi1 in phi1 16.003 * [backup-simplify]: Simplify 0 into 0 16.003 * [backup-simplify]: Simplify 1 into 1 16.003 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.004 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.004 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.004 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.004 * [backup-simplify]: Simplify lambda2 into lambda2 16.004 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1 16.004 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in phi1 16.004 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 16.004 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.004 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.004 * [backup-simplify]: Simplify 0.5 into 0.5 16.004 * [taylor]: Taking taylor expansion of phi2 in phi1 16.004 * [backup-simplify]: Simplify phi2 into phi2 16.005 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.005 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.005 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.005 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in phi1 16.005 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.005 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.005 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.005 * [backup-simplify]: Simplify 0.5 into 0.5 16.005 * [taylor]: Taking taylor expansion of phi1 in phi1 16.005 * [backup-simplify]: Simplify 0 into 0 16.005 * [backup-simplify]: Simplify 1 into 1 16.005 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.006 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.006 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in phi1 16.006 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.006 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.006 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.006 * [backup-simplify]: Simplify 0.5 into 0.5 16.006 * [taylor]: Taking taylor expansion of phi1 in phi1 16.006 * [backup-simplify]: Simplify 0 into 0 16.006 * [backup-simplify]: Simplify 1 into 1 16.006 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.007 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.007 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in phi1 16.007 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 16.007 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 16.007 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.008 * [backup-simplify]: Simplify 0.5 into 0.5 16.008 * [taylor]: Taking taylor expansion of phi2 in phi1 16.008 * [backup-simplify]: Simplify phi2 into phi2 16.008 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.008 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.008 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.008 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.008 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.008 * [backup-simplify]: Simplify lambda2 into lambda2 16.008 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1 16.008 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 16.008 * [taylor]: Taking taylor expansion of 2 in phi1 16.008 * [backup-simplify]: Simplify 2 into 2 16.008 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 16.008 * [taylor]: Taking taylor expansion of phi2 in phi1 16.008 * [backup-simplify]: Simplify phi2 into phi2 16.008 * [taylor]: Taking taylor expansion of phi1 in phi1 16.008 * [backup-simplify]: Simplify 0 into 0 16.008 * [backup-simplify]: Simplify 1 into 1 16.008 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 16.008 * [taylor]: Taking taylor expansion of 2 in phi1 16.008 * [backup-simplify]: Simplify 2 into 2 16.008 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 16.008 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.008 * [backup-simplify]: Simplify lambda2 into lambda2 16.008 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 16.008 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 16.008 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 16.008 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 16.008 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.008 * [backup-simplify]: Simplify 0.5 into 0.5 16.008 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 16.008 * [taylor]: Taking taylor expansion of phi2 in phi1 16.008 * [backup-simplify]: Simplify phi2 into phi2 16.008 * [taylor]: Taking taylor expansion of phi1 in phi1 16.008 * [backup-simplify]: Simplify 0 into 0 16.008 * [backup-simplify]: Simplify 1 into 1 16.008 * [backup-simplify]: Simplify (+ phi2 0) into phi2 16.008 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 16.008 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 16.008 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 16.008 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.009 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.009 * [backup-simplify]: Simplify (- 0) into 0 16.009 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.009 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.009 * [backup-simplify]: Simplify lambda1 into lambda1 16.009 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.009 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 16.009 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.009 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 16.009 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 16.010 * [backup-simplify]: Simplify (* 1 1) into 1 16.010 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.010 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.010 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 16.010 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 16.011 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) 16.011 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 16.012 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) 16.012 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 16.012 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.012 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 16.012 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.012 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.012 * [backup-simplify]: Simplify (- 0) into 0 16.012 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.012 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.012 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.013 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.013 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.013 * [backup-simplify]: Simplify (* 1 0) into 0 16.013 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 16.013 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 16.013 * [backup-simplify]: Simplify (- 0) into 0 16.013 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 16.013 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 16.013 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.014 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 16.014 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.014 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (pow lambda2 2)) into (* (sin (* 0.5 phi2)) (pow lambda2 2)) 16.014 * [backup-simplify]: Simplify (* 1 (* (sin (* 0.5 phi2)) (pow lambda2 2))) into (* (sin (* 0.5 phi2)) (pow lambda2 2)) 16.014 * [backup-simplify]: Simplify (* 0 (* (sin (* 0.5 phi2)) (pow lambda2 2))) into 0 16.014 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 16.014 * [backup-simplify]: Simplify (* phi2 0) into 0 16.014 * [backup-simplify]: Simplify (* 2 0) into 0 16.014 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 16.015 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1) 16.015 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)) 16.015 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 16.015 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 16.015 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 16.015 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) 16.016 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 16.016 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 16.017 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) 16.017 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 16.017 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.018 * [backup-simplify]: Simplify (+ 0) into 0 16.018 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 16.018 * [backup-simplify]: Simplify (+ 0 1) into 1 16.019 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 16.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.021 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 16.021 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 16.021 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 16.021 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 16.021 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 16.021 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.022 * [backup-simplify]: Simplify (+ 0) into 0 16.022 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.022 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 16.023 * [backup-simplify]: Simplify (+ 0) into 0 16.023 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 16.023 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 16.024 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.024 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 16.024 * [backup-simplify]: Simplify (- 0) into 0 16.025 * [backup-simplify]: Simplify (+ 0 0) into 0 16.025 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0 16.025 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda2 2))) into 0 16.025 * [backup-simplify]: Simplify (+ 0 0) into 0 16.025 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 16.026 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 16.026 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 16.026 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.028 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 16.028 * [backup-simplify]: Simplify (+ 0) into 0 16.029 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 16.029 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 16.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.030 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 16.030 * [backup-simplify]: Simplify (- 0) into 0 16.031 * [backup-simplify]: Simplify (+ 0 0) into 0 16.031 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (pow lambda2 2))) 16.031 * [backup-simplify]: Simplify (+ 0) into 0 16.032 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 16.032 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 16.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.034 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 16.034 * [backup-simplify]: Simplify (+ 0 0) into 0 16.035 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (* (cos (* 0.5 phi2)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) 16.035 * [backup-simplify]: Simplify (+ 0) into 0 16.035 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) 16.035 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.036 * [backup-simplify]: Simplify (+ 0) into 0 16.036 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 16.037 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 16.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.037 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 16.038 * [backup-simplify]: Simplify (+ 0 0) into 0 16.038 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (pow lambda2 2))) into 0 16.038 * [backup-simplify]: Simplify (+ 0) into 0 16.039 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (* 0.5 phi2)) (pow lambda2 2)))) into 0 16.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.041 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2)))) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2))) 16.041 * [backup-simplify]: Simplify (+ 0) into 0 16.042 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 16.042 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 16.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.043 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 16.043 * [backup-simplify]: Simplify (- 0) into 0 16.043 * [backup-simplify]: Simplify (+ 0 0) into 0 16.044 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) 16.044 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 16.044 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 16.044 * [backup-simplify]: Simplify (+ 0) into 0 16.045 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 16.045 * [backup-simplify]: Simplify (+ 0 1) into 1 16.045 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 16.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.047 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 16.047 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 16.047 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 16.048 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) 16.048 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1)))) 16.048 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 16.049 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 16.049 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 16.049 * [backup-simplify]: Simplify (+ (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (+ (* 2 phi2) (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 16.050 * [backup-simplify]: Simplify (+ (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (+ (* 2 phi2) (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1))))) 16.051 * [backup-simplify]: Simplify (- (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 16.051 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 2 phi2)))) 16.053 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 2 phi2)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))))) 16.057 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 16.058 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 16.058 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) in phi2 16.058 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 16.058 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 16.058 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.058 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.058 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.058 * [backup-simplify]: Simplify 0.5 into 0.5 16.058 * [taylor]: Taking taylor expansion of phi2 in phi2 16.058 * [backup-simplify]: Simplify 0 into 0 16.058 * [backup-simplify]: Simplify 1 into 1 16.058 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.059 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.061 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 16.061 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.061 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.061 * [backup-simplify]: Simplify lambda2 into lambda2 16.061 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 16.061 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.061 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.061 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.061 * [backup-simplify]: Simplify 0.5 into 0.5 16.061 * [taylor]: Taking taylor expansion of phi1 in phi2 16.061 * [backup-simplify]: Simplify phi1 into phi1 16.061 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.061 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.061 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.061 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.061 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.061 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.061 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) in phi2 16.061 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 16.061 * [taylor]: Taking taylor expansion of phi2 in phi2 16.061 * [backup-simplify]: Simplify 0 into 0 16.061 * [backup-simplify]: Simplify 1 into 1 16.061 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) in phi2 16.062 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 16.062 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 16.062 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.062 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.062 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.062 * [backup-simplify]: Simplify 0.5 into 0.5 16.062 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.062 * [taylor]: Taking taylor expansion of phi2 in phi2 16.062 * [backup-simplify]: Simplify 0 into 0 16.062 * [backup-simplify]: Simplify 1 into 1 16.062 * [taylor]: Taking taylor expansion of phi1 in phi2 16.062 * [backup-simplify]: Simplify phi1 into phi1 16.062 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.062 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.062 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.062 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.062 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.062 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.063 * [backup-simplify]: Simplify (- 0) into 0 16.063 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.064 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.064 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.064 * [backup-simplify]: Simplify lambda1 into lambda1 16.064 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) in phi2 16.064 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 16.064 * [taylor]: Taking taylor expansion of phi1 in phi2 16.064 * [backup-simplify]: Simplify phi1 into phi1 16.064 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 16.064 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 16.064 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.064 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.064 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.064 * [backup-simplify]: Simplify 0.5 into 0.5 16.064 * [taylor]: Taking taylor expansion of phi2 in phi2 16.064 * [backup-simplify]: Simplify 0 into 0 16.064 * [backup-simplify]: Simplify 1 into 1 16.064 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.065 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.065 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 16.065 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 16.066 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.066 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.066 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.066 * [backup-simplify]: Simplify 0.5 into 0.5 16.066 * [taylor]: Taking taylor expansion of phi1 in phi2 16.066 * [backup-simplify]: Simplify phi1 into phi1 16.066 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.066 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.066 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.066 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.066 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.066 * [backup-simplify]: Simplify (- 0) into 0 16.066 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.066 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.066 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.066 * [backup-simplify]: Simplify lambda2 into lambda2 16.066 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 16.066 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2 16.066 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.066 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.066 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.066 * [backup-simplify]: Simplify 0.5 into 0.5 16.067 * [taylor]: Taking taylor expansion of phi1 in phi2 16.067 * [backup-simplify]: Simplify phi1 into phi1 16.067 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.067 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.067 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.067 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 16.067 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.067 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.067 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.067 * [backup-simplify]: Simplify 0.5 into 0.5 16.067 * [taylor]: Taking taylor expansion of phi2 in phi2 16.067 * [backup-simplify]: Simplify 0 into 0 16.067 * [backup-simplify]: Simplify 1 into 1 16.067 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.068 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.068 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 16.068 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.068 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.068 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.068 * [backup-simplify]: Simplify 0.5 into 0.5 16.068 * [taylor]: Taking taylor expansion of phi2 in phi2 16.068 * [backup-simplify]: Simplify 0 into 0 16.068 * [backup-simplify]: Simplify 1 into 1 16.069 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.070 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.070 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 16.070 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.070 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.070 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.070 * [backup-simplify]: Simplify 0.5 into 0.5 16.070 * [taylor]: Taking taylor expansion of phi1 in phi2 16.070 * [backup-simplify]: Simplify phi1 into phi1 16.070 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.070 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.070 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.070 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.070 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.070 * [backup-simplify]: Simplify lambda2 into lambda2 16.070 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 16.070 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in phi2 16.070 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.070 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.070 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.070 * [backup-simplify]: Simplify 0.5 into 0.5 16.070 * [taylor]: Taking taylor expansion of phi2 in phi2 16.070 * [backup-simplify]: Simplify 0 into 0 16.070 * [backup-simplify]: Simplify 1 into 1 16.070 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.071 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.071 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in phi2 16.071 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.071 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.071 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.071 * [backup-simplify]: Simplify 0.5 into 0.5 16.071 * [taylor]: Taking taylor expansion of phi1 in phi2 16.071 * [backup-simplify]: Simplify phi1 into phi1 16.071 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.071 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.071 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.072 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in phi2 16.072 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.072 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.072 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.072 * [backup-simplify]: Simplify 0.5 into 0.5 16.072 * [taylor]: Taking taylor expansion of phi1 in phi2 16.072 * [backup-simplify]: Simplify phi1 into phi1 16.072 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.072 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.072 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.072 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in phi2 16.072 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.072 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.072 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.072 * [backup-simplify]: Simplify 0.5 into 0.5 16.072 * [taylor]: Taking taylor expansion of phi2 in phi2 16.072 * [backup-simplify]: Simplify 0 into 0 16.072 * [backup-simplify]: Simplify 1 into 1 16.072 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.073 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.073 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.073 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.073 * [backup-simplify]: Simplify lambda2 into lambda2 16.073 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 16.073 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 16.073 * [taylor]: Taking taylor expansion of 2 in phi2 16.073 * [backup-simplify]: Simplify 2 into 2 16.073 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.073 * [taylor]: Taking taylor expansion of phi2 in phi2 16.073 * [backup-simplify]: Simplify 0 into 0 16.073 * [backup-simplify]: Simplify 1 into 1 16.073 * [taylor]: Taking taylor expansion of phi1 in phi2 16.073 * [backup-simplify]: Simplify phi1 into phi1 16.073 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 16.073 * [taylor]: Taking taylor expansion of 2 in phi2 16.073 * [backup-simplify]: Simplify 2 into 2 16.073 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 16.073 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.073 * [backup-simplify]: Simplify lambda2 into lambda2 16.073 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 16.073 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 16.073 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.073 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.073 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.073 * [backup-simplify]: Simplify 0.5 into 0.5 16.073 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.073 * [taylor]: Taking taylor expansion of phi2 in phi2 16.073 * [backup-simplify]: Simplify 0 into 0 16.073 * [backup-simplify]: Simplify 1 into 1 16.073 * [taylor]: Taking taylor expansion of phi1 in phi2 16.073 * [backup-simplify]: Simplify phi1 into phi1 16.074 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.074 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.074 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.074 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.074 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.074 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.074 * [backup-simplify]: Simplify (- 0) into 0 16.074 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.074 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.074 * [backup-simplify]: Simplify lambda1 into lambda1 16.074 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.074 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.074 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 16.075 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.075 * [backup-simplify]: Simplify (* 1 1) into 1 16.075 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.075 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.075 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 16.075 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 16.075 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2)) 16.076 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 16.076 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 16.077 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 16.077 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.077 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.078 * [backup-simplify]: Simplify (- 0) into 0 16.078 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.078 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.078 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.078 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.078 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.078 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 16.078 * [backup-simplify]: Simplify (* 1 (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 16.078 * [backup-simplify]: Simplify (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))) into 0 16.078 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.078 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.078 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.078 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.079 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.079 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.079 * [backup-simplify]: Simplify (- 0) into 0 16.079 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.079 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.079 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.079 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.079 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.079 * [backup-simplify]: Simplify (* 1 0) into 0 16.079 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.080 * [backup-simplify]: Simplify (* 2 0) into 0 16.080 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.080 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 16.080 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 16.080 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.080 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.081 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.081 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.081 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.082 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.082 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 16.083 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.083 * [backup-simplify]: Simplify (+ 0) into 0 16.083 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.084 * [backup-simplify]: Simplify (+ 1 0) into 1 16.084 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 16.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.086 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 16.086 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.086 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.086 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 16.086 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.086 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 16.086 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.087 * [backup-simplify]: Simplify (+ 0) into 0 16.087 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.087 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.088 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.088 * [backup-simplify]: Simplify (- 0) into 0 16.088 * [backup-simplify]: Simplify (+ 0 0) into 0 16.089 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 16.089 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 16.089 * [backup-simplify]: Simplify (+ 0) into 0 16.089 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.090 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 16.090 * [backup-simplify]: Simplify (+ 0 0) into 0 16.090 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.091 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.091 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.091 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.091 * [backup-simplify]: Simplify (+ 0) into 0 16.092 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 16.092 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.093 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 16.093 * [backup-simplify]: Simplify (+ 0 0) into 0 16.093 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 16.093 * [backup-simplify]: Simplify (+ 0) into 0 16.094 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 16.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.095 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2))) 16.096 * [backup-simplify]: Simplify (+ 0) into 0 16.096 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.096 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.097 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.097 * [backup-simplify]: Simplify (- 0) into 0 16.097 * [backup-simplify]: Simplify (+ 0 0) into 0 16.098 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 16.098 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.100 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 16.101 * [backup-simplify]: Simplify (+ 0) into 0 16.101 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.101 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.102 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.102 * [backup-simplify]: Simplify (- 0) into 0 16.102 * [backup-simplify]: Simplify (+ 0 0) into 0 16.103 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2))) 16.103 * [backup-simplify]: Simplify (+ 0) into 0 16.103 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 16.104 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.104 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 16.105 * [backup-simplify]: Simplify (+ 0 0) into 0 16.105 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 16.105 * [backup-simplify]: Simplify (+ 0) into 0 16.106 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 16.106 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.106 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 16.107 * [backup-simplify]: Simplify (+ 0) into 0 16.107 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.107 * [backup-simplify]: Simplify (+ 1 0) into 1 16.107 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 16.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.109 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 16.109 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.109 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.110 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 16.110 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 16.110 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.111 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.111 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.111 * [backup-simplify]: Simplify (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.112 * [backup-simplify]: Simplify (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.112 * [backup-simplify]: Simplify (- (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))) 16.113 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 16.115 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 16.115 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2 16.115 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2 16.115 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) in phi2 16.115 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 16.115 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 16.115 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.115 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.115 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.115 * [backup-simplify]: Simplify 0.5 into 0.5 16.115 * [taylor]: Taking taylor expansion of phi2 in phi2 16.115 * [backup-simplify]: Simplify 0 into 0 16.115 * [backup-simplify]: Simplify 1 into 1 16.116 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.117 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.118 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 16.118 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.118 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.118 * [backup-simplify]: Simplify lambda2 into lambda2 16.118 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 16.118 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.118 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.118 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.118 * [backup-simplify]: Simplify 0.5 into 0.5 16.118 * [taylor]: Taking taylor expansion of phi1 in phi2 16.118 * [backup-simplify]: Simplify phi1 into phi1 16.118 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.118 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.118 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.118 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.118 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.118 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.119 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) in phi2 16.119 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 16.119 * [taylor]: Taking taylor expansion of phi2 in phi2 16.119 * [backup-simplify]: Simplify 0 into 0 16.119 * [backup-simplify]: Simplify 1 into 1 16.119 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) in phi2 16.119 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 16.119 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 16.119 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.119 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.119 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.119 * [backup-simplify]: Simplify 0.5 into 0.5 16.119 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.119 * [taylor]: Taking taylor expansion of phi2 in phi2 16.119 * [backup-simplify]: Simplify 0 into 0 16.119 * [backup-simplify]: Simplify 1 into 1 16.119 * [taylor]: Taking taylor expansion of phi1 in phi2 16.119 * [backup-simplify]: Simplify phi1 into phi1 16.119 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.119 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.119 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.119 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.119 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.119 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.119 * [backup-simplify]: Simplify (- 0) into 0 16.119 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.119 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.119 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.119 * [backup-simplify]: Simplify lambda1 into lambda1 16.119 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) in phi2 16.120 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 16.120 * [taylor]: Taking taylor expansion of phi1 in phi2 16.120 * [backup-simplify]: Simplify phi1 into phi1 16.120 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 16.120 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 16.120 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.120 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.120 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.120 * [backup-simplify]: Simplify 0.5 into 0.5 16.120 * [taylor]: Taking taylor expansion of phi2 in phi2 16.120 * [backup-simplify]: Simplify 0 into 0 16.120 * [backup-simplify]: Simplify 1 into 1 16.120 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.121 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.121 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 16.121 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 16.121 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.121 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.121 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.121 * [backup-simplify]: Simplify 0.5 into 0.5 16.121 * [taylor]: Taking taylor expansion of phi1 in phi2 16.121 * [backup-simplify]: Simplify phi1 into phi1 16.121 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.121 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.121 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.121 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.121 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.121 * [backup-simplify]: Simplify (- 0) into 0 16.122 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.122 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.122 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.122 * [backup-simplify]: Simplify lambda2 into lambda2 16.122 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2 16.122 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2 16.122 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.122 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.122 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.122 * [backup-simplify]: Simplify 0.5 into 0.5 16.122 * [taylor]: Taking taylor expansion of phi1 in phi2 16.122 * [backup-simplify]: Simplify phi1 into phi1 16.122 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.122 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.122 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.122 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 16.122 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.122 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.122 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.122 * [backup-simplify]: Simplify 0.5 into 0.5 16.122 * [taylor]: Taking taylor expansion of phi2 in phi2 16.122 * [backup-simplify]: Simplify 0 into 0 16.122 * [backup-simplify]: Simplify 1 into 1 16.122 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.123 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.123 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 16.123 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.123 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.123 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.123 * [backup-simplify]: Simplify 0.5 into 0.5 16.123 * [taylor]: Taking taylor expansion of phi2 in phi2 16.123 * [backup-simplify]: Simplify 0 into 0 16.123 * [backup-simplify]: Simplify 1 into 1 16.124 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.124 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.124 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 16.124 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.124 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.124 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.125 * [backup-simplify]: Simplify 0.5 into 0.5 16.125 * [taylor]: Taking taylor expansion of phi1 in phi2 16.125 * [backup-simplify]: Simplify phi1 into phi1 16.125 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.125 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.125 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.125 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.125 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.125 * [backup-simplify]: Simplify lambda2 into lambda2 16.125 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2 16.125 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in phi2 16.125 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 16.125 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.125 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.125 * [backup-simplify]: Simplify 0.5 into 0.5 16.125 * [taylor]: Taking taylor expansion of phi2 in phi2 16.125 * [backup-simplify]: Simplify 0 into 0 16.125 * [backup-simplify]: Simplify 1 into 1 16.125 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.126 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.126 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in phi2 16.126 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 16.126 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.126 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.126 * [backup-simplify]: Simplify 0.5 into 0.5 16.126 * [taylor]: Taking taylor expansion of phi1 in phi2 16.126 * [backup-simplify]: Simplify phi1 into phi1 16.126 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.126 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.126 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.126 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in phi2 16.126 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 16.126 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 16.126 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.126 * [backup-simplify]: Simplify 0.5 into 0.5 16.126 * [taylor]: Taking taylor expansion of phi1 in phi2 16.126 * [backup-simplify]: Simplify phi1 into phi1 16.126 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.126 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.127 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.127 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in phi2 16.127 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 16.127 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 16.127 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.127 * [backup-simplify]: Simplify 0.5 into 0.5 16.127 * [taylor]: Taking taylor expansion of phi2 in phi2 16.127 * [backup-simplify]: Simplify 0 into 0 16.127 * [backup-simplify]: Simplify 1 into 1 16.127 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.128 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.128 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.128 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.128 * [backup-simplify]: Simplify lambda2 into lambda2 16.128 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2 16.128 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 16.128 * [taylor]: Taking taylor expansion of 2 in phi2 16.128 * [backup-simplify]: Simplify 2 into 2 16.128 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.128 * [taylor]: Taking taylor expansion of phi2 in phi2 16.128 * [backup-simplify]: Simplify 0 into 0 16.128 * [backup-simplify]: Simplify 1 into 1 16.128 * [taylor]: Taking taylor expansion of phi1 in phi2 16.128 * [backup-simplify]: Simplify phi1 into phi1 16.128 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 16.128 * [taylor]: Taking taylor expansion of 2 in phi2 16.128 * [backup-simplify]: Simplify 2 into 2 16.128 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 16.128 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.128 * [backup-simplify]: Simplify lambda2 into lambda2 16.128 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 16.128 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 16.128 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 16.128 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 16.128 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.128 * [backup-simplify]: Simplify 0.5 into 0.5 16.128 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 16.128 * [taylor]: Taking taylor expansion of phi2 in phi2 16.128 * [backup-simplify]: Simplify 0 into 0 16.128 * [backup-simplify]: Simplify 1 into 1 16.128 * [taylor]: Taking taylor expansion of phi1 in phi2 16.128 * [backup-simplify]: Simplify phi1 into phi1 16.128 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 16.128 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 16.128 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 16.128 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 16.128 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.129 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.129 * [backup-simplify]: Simplify (- 0) into 0 16.129 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.129 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.129 * [backup-simplify]: Simplify lambda1 into lambda1 16.129 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.129 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.129 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 16.129 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.130 * [backup-simplify]: Simplify (* 1 1) into 1 16.130 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.130 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.130 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 16.130 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 16.130 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2)) 16.131 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 16.131 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 16.132 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) 16.132 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.132 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.132 * [backup-simplify]: Simplify (- 0) into 0 16.132 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.132 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.132 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.132 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.132 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.133 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 16.133 * [backup-simplify]: Simplify (* 1 (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 16.133 * [backup-simplify]: Simplify (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))) into 0 16.133 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.133 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 16.133 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.133 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 16.133 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 16.133 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.133 * [backup-simplify]: Simplify (- 0) into 0 16.133 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 16.134 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.134 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.134 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 16.134 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 16.134 * [backup-simplify]: Simplify (* 1 0) into 0 16.134 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.134 * [backup-simplify]: Simplify (* 2 0) into 0 16.134 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 16.135 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 16.135 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 16.135 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.135 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.135 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.135 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 16.136 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.136 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.137 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 16.137 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.137 * [backup-simplify]: Simplify (+ 0) into 0 16.138 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.138 * [backup-simplify]: Simplify (+ 1 0) into 1 16.138 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 16.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.140 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 16.140 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.140 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.140 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 16.141 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.141 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 16.141 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.141 * [backup-simplify]: Simplify (+ 0) into 0 16.142 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.142 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.143 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.143 * [backup-simplify]: Simplify (- 0) into 0 16.143 * [backup-simplify]: Simplify (+ 0 0) into 0 16.143 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 16.143 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 16.144 * [backup-simplify]: Simplify (+ 0) into 0 16.144 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.144 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 16.145 * [backup-simplify]: Simplify (+ 0 0) into 0 16.145 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.145 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.146 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 16.146 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.146 * [backup-simplify]: Simplify (+ 0) into 0 16.146 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 16.146 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.147 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 16.147 * [backup-simplify]: Simplify (+ 0 0) into 0 16.148 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 16.148 * [backup-simplify]: Simplify (+ 0) into 0 16.148 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 16.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.150 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2))) 16.150 * [backup-simplify]: Simplify (+ 0) into 0 16.151 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.151 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.152 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.152 * [backup-simplify]: Simplify (- 0) into 0 16.152 * [backup-simplify]: Simplify (+ 0 0) into 0 16.153 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 16.153 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.159 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 16.159 * [backup-simplify]: Simplify (+ 0) into 0 16.160 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.160 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.161 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 16.161 * [backup-simplify]: Simplify (- 0) into 0 16.161 * [backup-simplify]: Simplify (+ 0 0) into 0 16.162 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2))) 16.162 * [backup-simplify]: Simplify (+ 0) into 0 16.162 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 16.162 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 16.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.163 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 16.163 * [backup-simplify]: Simplify (+ 0 0) into 0 16.164 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 16.164 * [backup-simplify]: Simplify (+ 0) into 0 16.165 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 16.165 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.165 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 16.166 * [backup-simplify]: Simplify (+ 0) into 0 16.166 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 16.166 * [backup-simplify]: Simplify (+ 1 0) into 1 16.167 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 16.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.168 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 16.168 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.168 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 16.169 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 16.169 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 16.169 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.170 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.170 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.170 * [backup-simplify]: Simplify (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.171 * [backup-simplify]: Simplify (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 16.172 * [backup-simplify]: Simplify (- (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))) 16.172 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 16.174 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 16.174 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.174 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.174 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.174 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.174 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.174 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.174 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.174 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.174 * [backup-simplify]: Simplify 0.5 into 0.5 16.174 * [taylor]: Taking taylor expansion of phi1 in phi1 16.174 * [backup-simplify]: Simplify 0 into 0 16.174 * [backup-simplify]: Simplify 1 into 1 16.175 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.176 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.176 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.176 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.176 * [backup-simplify]: Simplify lambda2 into lambda2 16.176 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.176 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.176 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.176 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.176 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.176 * [backup-simplify]: Simplify 0.5 into 0.5 16.176 * [taylor]: Taking taylor expansion of phi1 in phi1 16.176 * [backup-simplify]: Simplify 0 into 0 16.176 * [backup-simplify]: Simplify 1 into 1 16.176 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.177 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.177 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.177 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.177 * [backup-simplify]: Simplify lambda1 into lambda1 16.177 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.177 * [taylor]: Taking taylor expansion of phi1 in phi1 16.177 * [backup-simplify]: Simplify 0 into 0 16.177 * [backup-simplify]: Simplify 1 into 1 16.177 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.177 * [taylor]: Taking taylor expansion of 2 in phi1 16.177 * [backup-simplify]: Simplify 2 into 2 16.177 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.177 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.177 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.177 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.177 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.177 * [backup-simplify]: Simplify 0.5 into 0.5 16.177 * [taylor]: Taking taylor expansion of phi1 in phi1 16.177 * [backup-simplify]: Simplify 0 into 0 16.177 * [backup-simplify]: Simplify 1 into 1 16.178 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.179 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.179 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.179 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.179 * [backup-simplify]: Simplify lambda2 into lambda2 16.179 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.179 * [backup-simplify]: Simplify lambda1 into lambda1 16.179 * [backup-simplify]: Simplify (* 1 1) into 1 16.179 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.179 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.179 * [backup-simplify]: Simplify (* 1 1) into 1 16.179 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.180 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.180 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.180 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.180 * [backup-simplify]: Simplify (* 1 1) into 1 16.180 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.180 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.180 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.180 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.180 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.181 * [backup-simplify]: Simplify (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 16.181 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.181 * [backup-simplify]: Simplify (+ 0) into 0 16.181 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.182 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 16.182 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.182 * [backup-simplify]: Simplify (+ 0) into 0 16.182 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.183 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 16.183 * [backup-simplify]: Simplify (+ 0 0) into 0 16.183 * [backup-simplify]: Simplify (+ 0 0) into 0 16.183 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.184 * [backup-simplify]: Simplify (+ 0) into 0 16.184 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.184 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 16.185 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 16.185 * [backup-simplify]: Simplify (- 0) into 0 16.185 * [backup-simplify]: Simplify (+ 0 0) into 0 16.185 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 16.185 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda2 16.185 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 16.185 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 16.185 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.185 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.185 * [backup-simplify]: Simplify lambda1 into lambda1 16.185 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.186 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.186 * [backup-simplify]: Simplify 0 into 0 16.186 * [backup-simplify]: Simplify 1 into 1 16.186 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 16.186 * [taylor]: Taking taylor expansion of 2 in lambda2 16.186 * [backup-simplify]: Simplify 2 into 2 16.186 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.186 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.186 * [backup-simplify]: Simplify 0 into 0 16.186 * [backup-simplify]: Simplify 1 into 1 16.186 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.186 * [backup-simplify]: Simplify lambda1 into lambda1 16.186 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.186 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.186 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.186 * [backup-simplify]: Simplify (* 2 0) into 0 16.186 * [backup-simplify]: Simplify (- 0) into 0 16.186 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.187 * [backup-simplify]: Simplify (sqrt (pow lambda1 2)) into lambda1 16.187 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.187 * [backup-simplify]: Simplify (+ 0 0) into 0 16.187 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.187 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 16.187 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 16.187 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 16.188 * [backup-simplify]: Simplify (/ (- (* 2 lambda1)) (* 2 (sqrt (pow lambda1 2)))) into -1 16.188 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.188 * [backup-simplify]: Simplify 0 into 0 16.188 * [backup-simplify]: Simplify 1 into 1 16.188 * [backup-simplify]: Simplify 0 into 0 16.188 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) in phi1 16.188 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.188 * [backup-simplify]: Simplify 1/2 into 1/2 16.188 * [taylor]: Taking taylor expansion of (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) in phi1 16.188 * [taylor]: Taking taylor expansion of (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) in phi1 16.188 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 16.188 * [taylor]: Taking taylor expansion of 2.0 in phi1 16.188 * [backup-simplify]: Simplify 2.0 into 2.0 16.188 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 16.188 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.188 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.188 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.188 * [backup-simplify]: Simplify 0.5 into 0.5 16.188 * [taylor]: Taking taylor expansion of phi1 in phi1 16.188 * [backup-simplify]: Simplify 0 into 0 16.188 * [backup-simplify]: Simplify 1 into 1 16.188 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.189 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.189 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 16.189 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.189 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.189 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.189 * [backup-simplify]: Simplify 0.5 into 0.5 16.189 * [taylor]: Taking taylor expansion of phi1 in phi1 16.189 * [backup-simplify]: Simplify 0 into 0 16.189 * [backup-simplify]: Simplify 1 into 1 16.190 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.191 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.191 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.191 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.191 * [backup-simplify]: Simplify lambda2 into lambda2 16.191 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.191 * [backup-simplify]: Simplify lambda1 into lambda1 16.191 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))) in phi1 16.191 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 16.191 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.191 * [backup-simplify]: Simplify 1.0 into 1.0 16.191 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 16.191 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.191 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.191 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.191 * [backup-simplify]: Simplify 0.5 into 0.5 16.191 * [taylor]: Taking taylor expansion of phi1 in phi1 16.191 * [backup-simplify]: Simplify 0 into 0 16.191 * [backup-simplify]: Simplify 1 into 1 16.191 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.192 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.192 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 16.192 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.192 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.192 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.192 * [backup-simplify]: Simplify 0.5 into 0.5 16.192 * [taylor]: Taking taylor expansion of phi1 in phi1 16.192 * [backup-simplify]: Simplify 0 into 0 16.192 * [backup-simplify]: Simplify 1 into 1 16.193 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.194 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.194 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.194 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.194 * [backup-simplify]: Simplify lambda1 into lambda1 16.194 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) in phi1 16.194 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 16.194 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.194 * [backup-simplify]: Simplify 1.0 into 1.0 16.194 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 16.194 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.194 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.194 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.194 * [backup-simplify]: Simplify 0.5 into 0.5 16.194 * [taylor]: Taking taylor expansion of phi1 in phi1 16.194 * [backup-simplify]: Simplify 0 into 0 16.194 * [backup-simplify]: Simplify 1 into 1 16.194 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.195 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.195 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 16.195 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.195 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.195 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.195 * [backup-simplify]: Simplify 0.5 into 0.5 16.195 * [taylor]: Taking taylor expansion of phi1 in phi1 16.195 * [backup-simplify]: Simplify 0 into 0 16.195 * [backup-simplify]: Simplify 1 into 1 16.195 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.196 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.196 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.196 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.196 * [backup-simplify]: Simplify lambda2 into lambda2 16.196 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1 16.196 * [taylor]: Taking taylor expansion of 2 in phi1 16.197 * [backup-simplify]: Simplify 2 into 2 16.197 * [taylor]: Taking taylor expansion of phi1 in phi1 16.197 * [backup-simplify]: Simplify 0 into 0 16.197 * [backup-simplify]: Simplify 1 into 1 16.197 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.197 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.197 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.197 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.197 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.197 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.197 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.197 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.197 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.197 * [backup-simplify]: Simplify 0.5 into 0.5 16.197 * [taylor]: Taking taylor expansion of phi1 in phi1 16.197 * [backup-simplify]: Simplify 0 into 0 16.197 * [backup-simplify]: Simplify 1 into 1 16.197 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.198 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.198 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.198 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.198 * [backup-simplify]: Simplify lambda2 into lambda2 16.198 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.198 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.198 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.198 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.198 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.198 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.198 * [backup-simplify]: Simplify 0.5 into 0.5 16.198 * [taylor]: Taking taylor expansion of phi1 in phi1 16.198 * [backup-simplify]: Simplify 0 into 0 16.198 * [backup-simplify]: Simplify 1 into 1 16.199 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.199 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.199 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.199 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.199 * [backup-simplify]: Simplify lambda1 into lambda1 16.199 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.200 * [taylor]: Taking taylor expansion of phi1 in phi1 16.200 * [backup-simplify]: Simplify 0 into 0 16.200 * [backup-simplify]: Simplify 1 into 1 16.200 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.200 * [taylor]: Taking taylor expansion of 2 in phi1 16.200 * [backup-simplify]: Simplify 2 into 2 16.200 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.200 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.200 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.200 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.200 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.200 * [backup-simplify]: Simplify 0.5 into 0.5 16.200 * [taylor]: Taking taylor expansion of phi1 in phi1 16.200 * [backup-simplify]: Simplify 0 into 0 16.200 * [backup-simplify]: Simplify 1 into 1 16.200 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.201 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.201 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.201 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.201 * [backup-simplify]: Simplify lambda2 into lambda2 16.201 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.201 * [backup-simplify]: Simplify lambda1 into lambda1 16.201 * [backup-simplify]: Simplify (* 1 1) into 1 16.201 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.201 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.202 * [backup-simplify]: Simplify (* 1 1) into 1 16.202 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.202 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.202 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.202 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.202 * [backup-simplify]: Simplify (* 1 1) into 1 16.202 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.202 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.202 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.203 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.203 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.203 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 16.203 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) into (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.203 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.204 * [backup-simplify]: Simplify (+ 0) into 0 16.204 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.204 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 16.204 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.205 * [backup-simplify]: Simplify (+ 0) into 0 16.205 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.206 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 16.206 * [backup-simplify]: Simplify (+ 0 0) into 0 16.206 * [backup-simplify]: Simplify (+ 0 0) into 0 16.206 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.206 * [backup-simplify]: Simplify (+ 0) into 0 16.207 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.207 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 16.207 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 16.208 * [backup-simplify]: Simplify (- 0) into 0 16.208 * [backup-simplify]: Simplify (+ 0 0) into 0 16.208 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) (/ 0 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 16.209 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 16.209 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.209 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 16.209 * [backup-simplify]: Simplify (* 1 0) into 0 16.209 * [backup-simplify]: Simplify (* 2.0 0) into 0 16.209 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.210 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 16.210 * [backup-simplify]: Simplify (* 1 0) into 0 16.210 * [backup-simplify]: Simplify (* 1.0 0) into 0 16.210 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.210 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.210 * [backup-simplify]: Simplify (* 1 0) into 0 16.211 * [backup-simplify]: Simplify (* 1.0 0) into 0 16.211 * [backup-simplify]: Simplify (* 2 0) into 0 16.211 * [backup-simplify]: Simplify (+ 0 0) into 0 16.211 * [backup-simplify]: Simplify (+ 0 0) into 0 16.212 * [backup-simplify]: Simplify (- 0) into 0 16.212 * [backup-simplify]: Simplify (+ 0 0) into 0 16.212 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into 0 16.212 * [backup-simplify]: Simplify (* 1/2 0) into 0 16.213 * [taylor]: Taking taylor expansion of 0 in lambda2 16.213 * [backup-simplify]: Simplify 0 into 0 16.213 * [taylor]: Taking taylor expansion of 0 in lambda1 16.213 * [backup-simplify]: Simplify 0 into 0 16.213 * [backup-simplify]: Simplify 0 into 0 16.213 * [taylor]: Taking taylor expansion of 0 in lambda2 16.213 * [backup-simplify]: Simplify 0 into 0 16.213 * [taylor]: Taking taylor expansion of 0 in lambda1 16.213 * [backup-simplify]: Simplify 0 into 0 16.213 * [backup-simplify]: Simplify 0 into 0 16.213 * [taylor]: Taking taylor expansion of -1 in lambda1 16.213 * [backup-simplify]: Simplify -1 into -1 16.213 * [backup-simplify]: Simplify -1 into -1 16.213 * [backup-simplify]: Simplify 1 into 1 16.213 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.213 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.213 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 16.213 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 16.214 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) 16.214 * [backup-simplify]: Simplify (* 1 1) into 1 16.214 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.216 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.217 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.217 * [backup-simplify]: Simplify (+ 0 0) into 0 16.218 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 16.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.219 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 16.220 * [backup-simplify]: Simplify (- 0) into 0 16.220 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.220 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 16.221 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 16.222 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 16.222 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.223 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.224 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.224 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.225 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.225 * [backup-simplify]: Simplify (- 0) into 0 16.225 * [backup-simplify]: Simplify (+ 0 0) into 0 16.226 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 16.226 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 16.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.230 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.232 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) 16.232 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) 16.233 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) 16.233 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) 16.235 * [backup-simplify]: Simplify (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) 1)) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) 16.235 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.236 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.236 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.237 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.237 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.238 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.238 * [backup-simplify]: Simplify (+ 0 0) into 0 16.238 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 16.240 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.241 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.125) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into (- (* 0.125 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 16.241 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 16.242 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.243 * [backup-simplify]: Simplify (+ (* 0 (- (* 0.125 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 0.5 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 16.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.244 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.244 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.245 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.245 * [backup-simplify]: Simplify (- 0) into 0 16.245 * [backup-simplify]: Simplify (+ 0 0) into 0 16.246 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0))) into 0 16.246 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.247 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 16.247 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.248 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (pow lambda2 2)))) into 0 16.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.249 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.250 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.251 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.251 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.252 * [backup-simplify]: Simplify (- 0) into 0 16.252 * [backup-simplify]: Simplify (+ 0 0) into 0 16.252 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 (* 0.5 (pow lambda2 2))) (* 0 0))) into 0 16.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 16.259 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 16.259 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 16.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.260 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 16.260 * [backup-simplify]: Simplify (+ 0 0) into 0 16.261 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0))) into 0 16.263 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.263 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* (- 0.125) 0))) into 0 16.264 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 16.264 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 16.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.267 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.267 * [backup-simplify]: Simplify (+ 0 0) into 0 16.268 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 16.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.269 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 16.269 * [backup-simplify]: Simplify (- 0) into 0 16.269 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 16.269 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 16.270 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) lambda1))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) lambda1)) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) 16.271 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) lambda1)) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) lambda1)))) (+ (* 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.271 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) (+ (* 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.272 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.272 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.273 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.273 * [backup-simplify]: Simplify (- (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 16.275 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) 1)) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) (- (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) 16.281 * [backup-simplify]: Simplify (/ (- (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (pow (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1)))))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 1.5 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))))))))))) 16.281 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1)))))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 1.5 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))))))))))) in phi1 16.281 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.281 * [backup-simplify]: Simplify 1/2 into 1/2 16.281 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1)))))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 1.5 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))))))))) in phi1 16.281 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.281 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.281 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.281 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.281 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.281 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.281 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.281 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.281 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.281 * [backup-simplify]: Simplify 0.5 into 0.5 16.281 * [taylor]: Taking taylor expansion of phi1 in phi1 16.281 * [backup-simplify]: Simplify 0 into 0 16.281 * [backup-simplify]: Simplify 1 into 1 16.282 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.282 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.282 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.283 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.283 * [backup-simplify]: Simplify lambda2 into lambda2 16.283 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.283 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.283 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.283 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.283 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.283 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.283 * [backup-simplify]: Simplify 0.5 into 0.5 16.283 * [taylor]: Taking taylor expansion of phi1 in phi1 16.283 * [backup-simplify]: Simplify 0 into 0 16.283 * [backup-simplify]: Simplify 1 into 1 16.283 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.284 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.284 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.284 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.284 * [backup-simplify]: Simplify lambda1 into lambda1 16.284 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.284 * [taylor]: Taking taylor expansion of phi1 in phi1 16.284 * [backup-simplify]: Simplify 0 into 0 16.284 * [backup-simplify]: Simplify 1 into 1 16.284 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.284 * [taylor]: Taking taylor expansion of 2 in phi1 16.284 * [backup-simplify]: Simplify 2 into 2 16.284 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.284 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.284 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.284 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.284 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.284 * [backup-simplify]: Simplify 0.5 into 0.5 16.284 * [taylor]: Taking taylor expansion of phi1 in phi1 16.284 * [backup-simplify]: Simplify 0 into 0 16.284 * [backup-simplify]: Simplify 1 into 1 16.284 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.285 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.285 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.285 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.285 * [backup-simplify]: Simplify lambda2 into lambda2 16.285 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.285 * [backup-simplify]: Simplify lambda1 into lambda1 16.286 * [backup-simplify]: Simplify (* 1 1) into 1 16.286 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.286 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.286 * [backup-simplify]: Simplify (* 1 1) into 1 16.286 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.286 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.286 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.286 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.287 * [backup-simplify]: Simplify (* 1 1) into 1 16.287 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.287 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.287 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.287 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.287 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.287 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 16.288 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) into (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.288 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.288 * [backup-simplify]: Simplify (+ 0) into 0 16.288 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.289 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 16.289 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.289 * [backup-simplify]: Simplify (+ 0) into 0 16.289 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.290 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 16.290 * [backup-simplify]: Simplify (+ 0 0) into 0 16.290 * [backup-simplify]: Simplify (+ 0 0) into 0 16.290 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.290 * [backup-simplify]: Simplify (+ 0) into 0 16.291 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.291 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 16.291 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 16.291 * [backup-simplify]: Simplify (- 0) into 0 16.292 * [backup-simplify]: Simplify (+ 0 0) into 0 16.292 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) (/ 0 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 16.292 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into 0 16.293 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1)))))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 1.5 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))))))))) in phi1 16.293 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1)))))) in phi1 16.293 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 16.293 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.293 * [backup-simplify]: Simplify 0.25 into 0.25 16.293 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.293 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.293 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.293 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.293 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.293 * [backup-simplify]: Simplify 0.5 into 0.5 16.293 * [taylor]: Taking taylor expansion of phi1 in phi1 16.293 * [backup-simplify]: Simplify 0 into 0 16.293 * [backup-simplify]: Simplify 1 into 1 16.293 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.294 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.295 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.296 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.296 * [backup-simplify]: Simplify lambda2 into lambda2 16.296 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1))))) in phi1 16.296 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.296 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.296 * [backup-simplify]: Simplify 0.5 into 0.5 16.296 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.296 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.296 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.296 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.296 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.296 * [backup-simplify]: Simplify 0.5 into 0.5 16.296 * [taylor]: Taking taylor expansion of phi1 in phi1 16.296 * [backup-simplify]: Simplify 0 into 0 16.296 * [backup-simplify]: Simplify 1 into 1 16.296 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.297 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.297 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.297 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.297 * [backup-simplify]: Simplify lambda2 into lambda2 16.297 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.297 * [backup-simplify]: Simplify lambda1 into lambda1 16.297 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1)))) in phi1 16.297 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 16.297 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.297 * [backup-simplify]: Simplify 0.25 into 0.25 16.297 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.297 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.297 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.297 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.297 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.297 * [backup-simplify]: Simplify 0.5 into 0.5 16.297 * [taylor]: Taking taylor expansion of phi1 in phi1 16.297 * [backup-simplify]: Simplify 0 into 0 16.297 * [backup-simplify]: Simplify 1 into 1 16.298 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.298 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.300 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.300 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.300 * [backup-simplify]: Simplify lambda1 into lambda1 16.300 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1))) in phi1 16.300 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.300 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.300 * [backup-simplify]: Simplify 1.0 into 1.0 16.300 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.300 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1))) in phi1 16.300 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.300 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.300 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.300 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.300 * [backup-simplify]: Simplify 0.5 into 0.5 16.300 * [taylor]: Taking taylor expansion of phi1 in phi1 16.300 * [backup-simplify]: Simplify 0 into 0 16.300 * [backup-simplify]: Simplify 1 into 1 16.301 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.301 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.301 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 3) lambda1)) in phi1 16.301 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.302 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.302 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.302 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.302 * [backup-simplify]: Simplify 0.5 into 0.5 16.302 * [taylor]: Taking taylor expansion of phi1 in phi1 16.302 * [backup-simplify]: Simplify 0 into 0 16.302 * [backup-simplify]: Simplify 1 into 1 16.302 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.303 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.304 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) lambda1) in phi1 16.304 * [taylor]: Taking taylor expansion of (pow lambda2 3) in phi1 16.304 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.304 * [backup-simplify]: Simplify lambda2 into lambda2 16.304 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.304 * [backup-simplify]: Simplify lambda1 into lambda1 16.304 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.304 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.304 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.304 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.304 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.304 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.304 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.304 * [backup-simplify]: Simplify 0.5 into 0.5 16.304 * [taylor]: Taking taylor expansion of phi1 in phi1 16.304 * [backup-simplify]: Simplify 0 into 0 16.304 * [backup-simplify]: Simplify 1 into 1 16.305 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.306 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.306 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.306 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.306 * [backup-simplify]: Simplify lambda2 into lambda2 16.306 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.306 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.306 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.306 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.306 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.306 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.306 * [backup-simplify]: Simplify 0.5 into 0.5 16.306 * [taylor]: Taking taylor expansion of phi1 in phi1 16.306 * [backup-simplify]: Simplify 0 into 0 16.306 * [backup-simplify]: Simplify 1 into 1 16.306 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.307 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.307 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.307 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.307 * [backup-simplify]: Simplify lambda1 into lambda1 16.307 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.307 * [taylor]: Taking taylor expansion of phi1 in phi1 16.307 * [backup-simplify]: Simplify 0 into 0 16.307 * [backup-simplify]: Simplify 1 into 1 16.307 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.307 * [taylor]: Taking taylor expansion of 2 in phi1 16.307 * [backup-simplify]: Simplify 2 into 2 16.307 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.307 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.307 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.307 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.307 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.307 * [backup-simplify]: Simplify 0.5 into 0.5 16.307 * [taylor]: Taking taylor expansion of phi1 in phi1 16.307 * [backup-simplify]: Simplify 0 into 0 16.307 * [backup-simplify]: Simplify 1 into 1 16.308 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.308 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.308 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.308 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.309 * [backup-simplify]: Simplify lambda2 into lambda2 16.309 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.309 * [backup-simplify]: Simplify lambda1 into lambda1 16.309 * [backup-simplify]: Simplify (* 1 1) into 1 16.309 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.309 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.309 * [backup-simplify]: Simplify (* lambda2 (pow lambda2 2)) into (pow lambda2 3) 16.309 * [backup-simplify]: Simplify (* (pow lambda2 3) lambda1) into (* (pow lambda2 3) lambda1) 16.309 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 3) lambda1)) into (* 0.25 (* (pow lambda2 3) lambda1)) 16.309 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 3) lambda1))) into (* 0.25 (* (pow lambda2 3) lambda1)) 16.310 * [backup-simplify]: Simplify (* 1 1) into 1 16.310 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.310 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.310 * [backup-simplify]: Simplify (* 1 1) into 1 16.310 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.310 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.310 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.310 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.311 * [backup-simplify]: Simplify (* 1 1) into 1 16.311 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.311 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.311 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.311 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.311 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.311 * [backup-simplify]: Simplify (/ (* 0.25 (* (pow lambda2 3) lambda1)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.25 (/ (* (pow lambda2 3) lambda1) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.311 * [taylor]: Taking taylor expansion of (+ (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1)) in phi1 16.312 * [taylor]: Taking taylor expansion of (* 2.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.312 * [taylor]: Taking taylor expansion of 2.0 in phi1 16.312 * [backup-simplify]: Simplify 2.0 into 2.0 16.312 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.312 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1)))) in phi1 16.312 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.312 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.312 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.312 * [backup-simplify]: Simplify 0.5 into 0.5 16.312 * [taylor]: Taking taylor expansion of phi1 in phi1 16.312 * [backup-simplify]: Simplify 0 into 0 16.312 * [backup-simplify]: Simplify 1 into 1 16.312 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.313 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.313 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 (* lambda1 phi1))) in phi1 16.313 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.313 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.313 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.313 * [backup-simplify]: Simplify 0.5 into 0.5 16.313 * [taylor]: Taking taylor expansion of phi1 in phi1 16.313 * [backup-simplify]: Simplify 0 into 0 16.313 * [backup-simplify]: Simplify 1 into 1 16.313 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.314 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.314 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 16.314 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.314 * [backup-simplify]: Simplify lambda2 into lambda2 16.314 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 16.314 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.314 * [backup-simplify]: Simplify lambda1 into lambda1 16.314 * [taylor]: Taking taylor expansion of phi1 in phi1 16.314 * [backup-simplify]: Simplify 0 into 0 16.314 * [backup-simplify]: Simplify 1 into 1 16.314 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.314 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.314 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.314 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.314 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.314 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.314 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.314 * [backup-simplify]: Simplify 0.5 into 0.5 16.314 * [taylor]: Taking taylor expansion of phi1 in phi1 16.314 * [backup-simplify]: Simplify 0 into 0 16.314 * [backup-simplify]: Simplify 1 into 1 16.315 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.316 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.316 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.316 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.316 * [backup-simplify]: Simplify lambda2 into lambda2 16.316 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.316 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.316 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.316 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.316 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.316 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.316 * [backup-simplify]: Simplify 0.5 into 0.5 16.316 * [taylor]: Taking taylor expansion of phi1 in phi1 16.316 * [backup-simplify]: Simplify 0 into 0 16.316 * [backup-simplify]: Simplify 1 into 1 16.316 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.317 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.317 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.317 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.317 * [backup-simplify]: Simplify lambda1 into lambda1 16.317 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.317 * [taylor]: Taking taylor expansion of phi1 in phi1 16.317 * [backup-simplify]: Simplify 0 into 0 16.317 * [backup-simplify]: Simplify 1 into 1 16.317 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.317 * [taylor]: Taking taylor expansion of 2 in phi1 16.317 * [backup-simplify]: Simplify 2 into 2 16.317 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.317 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.317 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.317 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.317 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.317 * [backup-simplify]: Simplify 0.5 into 0.5 16.317 * [taylor]: Taking taylor expansion of phi1 in phi1 16.317 * [backup-simplify]: Simplify 0 into 0 16.317 * [backup-simplify]: Simplify 1 into 1 16.318 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.319 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.319 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.319 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.319 * [backup-simplify]: Simplify lambda2 into lambda2 16.319 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.319 * [backup-simplify]: Simplify lambda1 into lambda1 16.319 * [backup-simplify]: Simplify (* lambda1 0) into 0 16.319 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.319 * [backup-simplify]: Simplify (* 0 0) into 0 16.319 * [backup-simplify]: Simplify (* 1 0) into 0 16.319 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 16.320 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 16.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.322 * [backup-simplify]: Simplify (+ (* 0 (* lambda2 lambda1)) (* 0.5 0)) into 0 16.322 * [backup-simplify]: Simplify (+ 0) into 0 16.322 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 16.323 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 1) (* 0 0))) into 0 16.323 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 lambda1) (* 0 0))) into 0 16.323 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 16.324 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.324 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (* lambda2 lambda1)) (* 0 0))) into (* 0.5 (* lambda2 lambda1)) 16.326 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.327 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (* lambda2 lambda1)) 16.327 * [backup-simplify]: Simplify (* 1 1) into 1 16.327 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.327 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.327 * [backup-simplify]: Simplify (* 1 1) into 1 16.327 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.327 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.328 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.328 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.328 * [backup-simplify]: Simplify (* 1 1) into 1 16.328 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.328 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.328 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.328 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.328 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.329 * [backup-simplify]: Simplify (/ (* 0.5 (* lambda2 lambda1)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.5 (/ (* lambda2 lambda1) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.329 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 1) in phi1 16.329 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.329 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.329 * [backup-simplify]: Simplify 1.0 into 1.0 16.329 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.329 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3)))) in phi1 16.329 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.329 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.329 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.329 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.329 * [backup-simplify]: Simplify 0.5 into 0.5 16.329 * [taylor]: Taking taylor expansion of phi1 in phi1 16.329 * [backup-simplify]: Simplify 0 into 0 16.329 * [backup-simplify]: Simplify 1 into 1 16.329 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.330 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.330 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (pow lambda1 3))) in phi1 16.330 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.330 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.330 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.330 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.330 * [backup-simplify]: Simplify 0.5 into 0.5 16.330 * [taylor]: Taking taylor expansion of phi1 in phi1 16.330 * [backup-simplify]: Simplify 0 into 0 16.330 * [backup-simplify]: Simplify 1 into 1 16.330 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.331 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.333 * [taylor]: Taking taylor expansion of (* lambda2 (pow lambda1 3)) in phi1 16.333 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.333 * [backup-simplify]: Simplify lambda2 into lambda2 16.333 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1 16.333 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.333 * [backup-simplify]: Simplify lambda1 into lambda1 16.333 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.333 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.333 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.333 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.333 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.333 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.333 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.333 * [backup-simplify]: Simplify 0.5 into 0.5 16.333 * [taylor]: Taking taylor expansion of phi1 in phi1 16.333 * [backup-simplify]: Simplify 0 into 0 16.333 * [backup-simplify]: Simplify 1 into 1 16.333 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.334 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.334 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.334 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.334 * [backup-simplify]: Simplify lambda2 into lambda2 16.334 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.334 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.334 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.334 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.334 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.334 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.334 * [backup-simplify]: Simplify 0.5 into 0.5 16.334 * [taylor]: Taking taylor expansion of phi1 in phi1 16.334 * [backup-simplify]: Simplify 0 into 0 16.334 * [backup-simplify]: Simplify 1 into 1 16.335 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.336 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.336 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.336 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.336 * [backup-simplify]: Simplify lambda1 into lambda1 16.336 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.336 * [taylor]: Taking taylor expansion of phi1 in phi1 16.336 * [backup-simplify]: Simplify 0 into 0 16.336 * [backup-simplify]: Simplify 1 into 1 16.336 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.336 * [taylor]: Taking taylor expansion of 2 in phi1 16.336 * [backup-simplify]: Simplify 2 into 2 16.336 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.336 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.336 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.336 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.336 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.336 * [backup-simplify]: Simplify 0.5 into 0.5 16.336 * [taylor]: Taking taylor expansion of phi1 in phi1 16.336 * [backup-simplify]: Simplify 0 into 0 16.336 * [backup-simplify]: Simplify 1 into 1 16.336 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.337 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.337 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.337 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.337 * [backup-simplify]: Simplify lambda2 into lambda2 16.337 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.337 * [backup-simplify]: Simplify lambda1 into lambda1 16.337 * [backup-simplify]: Simplify (* 1 1) into 1 16.338 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.338 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.338 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3) 16.338 * [backup-simplify]: Simplify (* lambda2 (pow lambda1 3)) into (* lambda2 (pow lambda1 3)) 16.338 * [backup-simplify]: Simplify (* 0.25 (* lambda2 (pow lambda1 3))) into (* 0.25 (* lambda2 (pow lambda1 3))) 16.338 * [backup-simplify]: Simplify (* 1 (* 0.25 (* lambda2 (pow lambda1 3)))) into (* 0.25 (* lambda2 (pow lambda1 3))) 16.338 * [backup-simplify]: Simplify (* 1 1) into 1 16.338 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.338 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.339 * [backup-simplify]: Simplify (* 1 1) into 1 16.339 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.339 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.339 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.339 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.339 * [backup-simplify]: Simplify (* 1 1) into 1 16.339 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.339 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.339 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.339 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.340 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.340 * [backup-simplify]: Simplify (/ (* 0.25 (* lambda2 (pow lambda1 3))) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.25 (/ (* lambda2 (pow lambda1 3)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.340 * [taylor]: Taking taylor expansion of 1 in phi1 16.340 * [backup-simplify]: Simplify 1 into 1 16.340 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* 1.5 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))))))) in phi1 16.340 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 16.340 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.340 * [backup-simplify]: Simplify 0.25 into 0.25 16.340 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.340 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.340 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.340 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.340 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.340 * [backup-simplify]: Simplify 0.5 into 0.5 16.340 * [taylor]: Taking taylor expansion of phi1 in phi1 16.340 * [backup-simplify]: Simplify 0 into 0 16.340 * [backup-simplify]: Simplify 1 into 1 16.341 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.341 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.341 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.342 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.342 * [backup-simplify]: Simplify lambda2 into lambda2 16.342 * [taylor]: Taking taylor expansion of (+ (* 1.5 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))))))) in phi1 16.342 * [taylor]: Taking taylor expansion of (* 1.5 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.342 * [taylor]: Taking taylor expansion of 1.5 in phi1 16.342 * [backup-simplify]: Simplify 1.5 into 1.5 16.342 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.342 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2)))) in phi1 16.342 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.342 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.342 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.342 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.342 * [backup-simplify]: Simplify 0.5 into 0.5 16.342 * [taylor]: Taking taylor expansion of phi1 in phi1 16.342 * [backup-simplify]: Simplify 0 into 0 16.342 * [backup-simplify]: Simplify 1 into 1 16.342 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.343 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.343 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow lambda1 2))) in phi1 16.343 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.343 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.343 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.343 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.343 * [backup-simplify]: Simplify 0.5 into 0.5 16.343 * [taylor]: Taking taylor expansion of phi1 in phi1 16.343 * [backup-simplify]: Simplify 0 into 0 16.343 * [backup-simplify]: Simplify 1 into 1 16.343 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.344 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.350 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow lambda1 2)) in phi1 16.350 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.350 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.350 * [backup-simplify]: Simplify lambda2 into lambda2 16.350 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.351 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.351 * [backup-simplify]: Simplify lambda1 into lambda1 16.351 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.351 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.351 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.351 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.351 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.351 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.351 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.351 * [backup-simplify]: Simplify 0.5 into 0.5 16.351 * [taylor]: Taking taylor expansion of phi1 in phi1 16.351 * [backup-simplify]: Simplify 0 into 0 16.351 * [backup-simplify]: Simplify 1 into 1 16.351 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.352 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.352 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.352 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.352 * [backup-simplify]: Simplify lambda2 into lambda2 16.352 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.352 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.352 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.352 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.352 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.352 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.352 * [backup-simplify]: Simplify 0.5 into 0.5 16.352 * [taylor]: Taking taylor expansion of phi1 in phi1 16.352 * [backup-simplify]: Simplify 0 into 0 16.352 * [backup-simplify]: Simplify 1 into 1 16.352 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.353 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.353 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.353 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.353 * [backup-simplify]: Simplify lambda1 into lambda1 16.353 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.353 * [taylor]: Taking taylor expansion of phi1 in phi1 16.353 * [backup-simplify]: Simplify 0 into 0 16.353 * [backup-simplify]: Simplify 1 into 1 16.353 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.353 * [taylor]: Taking taylor expansion of 2 in phi1 16.353 * [backup-simplify]: Simplify 2 into 2 16.353 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.353 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.353 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.353 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.353 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.353 * [backup-simplify]: Simplify 0.5 into 0.5 16.353 * [taylor]: Taking taylor expansion of phi1 in phi1 16.354 * [backup-simplify]: Simplify 0 into 0 16.354 * [backup-simplify]: Simplify 1 into 1 16.354 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.355 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.355 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.355 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.355 * [backup-simplify]: Simplify lambda2 into lambda2 16.355 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.355 * [backup-simplify]: Simplify lambda1 into lambda1 16.355 * [backup-simplify]: Simplify (* 1 1) into 1 16.355 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.355 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.355 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.355 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda1 2)) into (* (pow lambda2 2) (pow lambda1 2)) 16.356 * [backup-simplify]: Simplify (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 16.356 * [backup-simplify]: Simplify (* 1 (* 0.25 (* (pow lambda2 2) (pow lambda1 2)))) into (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) 16.356 * [backup-simplify]: Simplify (* 1 1) into 1 16.356 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.356 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.356 * [backup-simplify]: Simplify (* 1 1) into 1 16.356 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.356 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.357 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.357 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.357 * [backup-simplify]: Simplify (* 1 1) into 1 16.357 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.357 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.357 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.357 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.357 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.358 * [backup-simplify]: Simplify (/ (* 0.25 (* (pow lambda2 2) (pow lambda1 2))) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.25 (/ (* (pow lambda2 2) (pow lambda1 2)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.358 * [taylor]: Taking taylor expansion of (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))))) in phi1 16.358 * [taylor]: Taking taylor expansion of (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.358 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.358 * [backup-simplify]: Simplify 0.25 into 0.25 16.358 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.358 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1 16.358 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.358 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.358 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.358 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.358 * [backup-simplify]: Simplify 0.5 into 0.5 16.358 * [taylor]: Taking taylor expansion of phi1 in phi1 16.358 * [backup-simplify]: Simplify 0 into 0 16.358 * [backup-simplify]: Simplify 1 into 1 16.358 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.359 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.359 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1 16.359 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.359 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.359 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.359 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.359 * [backup-simplify]: Simplify 0.5 into 0.5 16.359 * [taylor]: Taking taylor expansion of phi1 in phi1 16.359 * [backup-simplify]: Simplify 0 into 0 16.359 * [backup-simplify]: Simplify 1 into 1 16.360 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.361 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.362 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1 16.362 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.362 * [backup-simplify]: Simplify lambda1 into lambda1 16.362 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.362 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.362 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.362 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.362 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.362 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.362 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.362 * [backup-simplify]: Simplify 0.5 into 0.5 16.362 * [taylor]: Taking taylor expansion of phi1 in phi1 16.362 * [backup-simplify]: Simplify 0 into 0 16.362 * [backup-simplify]: Simplify 1 into 1 16.363 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.363 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.364 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.364 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.364 * [backup-simplify]: Simplify lambda2 into lambda2 16.364 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.364 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.364 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.364 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.364 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.364 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.364 * [backup-simplify]: Simplify 0.5 into 0.5 16.364 * [taylor]: Taking taylor expansion of phi1 in phi1 16.364 * [backup-simplify]: Simplify 0 into 0 16.364 * [backup-simplify]: Simplify 1 into 1 16.364 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.365 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.365 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.365 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.365 * [backup-simplify]: Simplify lambda1 into lambda1 16.365 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.365 * [taylor]: Taking taylor expansion of phi1 in phi1 16.365 * [backup-simplify]: Simplify 0 into 0 16.365 * [backup-simplify]: Simplify 1 into 1 16.365 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.365 * [taylor]: Taking taylor expansion of 2 in phi1 16.365 * [backup-simplify]: Simplify 2 into 2 16.365 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.365 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.365 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.365 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.365 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.365 * [backup-simplify]: Simplify 0.5 into 0.5 16.365 * [taylor]: Taking taylor expansion of phi1 in phi1 16.365 * [backup-simplify]: Simplify 0 into 0 16.365 * [backup-simplify]: Simplify 1 into 1 16.365 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.367 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.367 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.367 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.367 * [backup-simplify]: Simplify lambda2 into lambda2 16.367 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.367 * [backup-simplify]: Simplify lambda1 into lambda1 16.367 * [backup-simplify]: Simplify (* 1 1) into 1 16.367 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.367 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.367 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4) 16.367 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4)) 16.368 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4)) 16.368 * [backup-simplify]: Simplify (* 1 1) into 1 16.368 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.368 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.368 * [backup-simplify]: Simplify (* 1 1) into 1 16.368 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.368 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.368 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.369 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.369 * [backup-simplify]: Simplify (* 1 1) into 1 16.369 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.369 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.369 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.369 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.369 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.369 * [backup-simplify]: Simplify (/ (* 0.25 (pow lambda1 4)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.25 (/ (pow lambda1 4) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.370 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))))) in phi1 16.370 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.370 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.370 * [backup-simplify]: Simplify 1.0 into 1.0 16.370 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.370 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1 16.370 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.370 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.370 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.370 * [backup-simplify]: Simplify 0.5 into 0.5 16.370 * [taylor]: Taking taylor expansion of phi1 in phi1 16.370 * [backup-simplify]: Simplify 0 into 0 16.370 * [backup-simplify]: Simplify 1 into 1 16.370 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.371 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.371 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1 16.371 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.371 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.371 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.371 * [backup-simplify]: Simplify 0.5 into 0.5 16.371 * [taylor]: Taking taylor expansion of phi1 in phi1 16.371 * [backup-simplify]: Simplify 0 into 0 16.371 * [backup-simplify]: Simplify 1 into 1 16.371 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.372 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.372 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 16.372 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.372 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.372 * [backup-simplify]: Simplify lambda1 into lambda1 16.372 * [taylor]: Taking taylor expansion of phi1 in phi1 16.372 * [backup-simplify]: Simplify 0 into 0 16.372 * [backup-simplify]: Simplify 1 into 1 16.372 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.372 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.372 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.372 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.372 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.372 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.372 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.372 * [backup-simplify]: Simplify 0.5 into 0.5 16.373 * [taylor]: Taking taylor expansion of phi1 in phi1 16.373 * [backup-simplify]: Simplify 0 into 0 16.373 * [backup-simplify]: Simplify 1 into 1 16.373 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.374 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.374 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.374 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.374 * [backup-simplify]: Simplify lambda2 into lambda2 16.374 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.374 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.374 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.374 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.374 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.374 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.374 * [backup-simplify]: Simplify 0.5 into 0.5 16.374 * [taylor]: Taking taylor expansion of phi1 in phi1 16.374 * [backup-simplify]: Simplify 0 into 0 16.374 * [backup-simplify]: Simplify 1 into 1 16.374 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.375 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.375 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.375 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.375 * [backup-simplify]: Simplify lambda1 into lambda1 16.375 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.375 * [taylor]: Taking taylor expansion of phi1 in phi1 16.375 * [backup-simplify]: Simplify 0 into 0 16.375 * [backup-simplify]: Simplify 1 into 1 16.375 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.375 * [taylor]: Taking taylor expansion of 2 in phi1 16.375 * [backup-simplify]: Simplify 2 into 2 16.375 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.375 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.375 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.375 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.375 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.375 * [backup-simplify]: Simplify 0.5 into 0.5 16.375 * [taylor]: Taking taylor expansion of phi1 in phi1 16.375 * [backup-simplify]: Simplify 0 into 0 16.375 * [backup-simplify]: Simplify 1 into 1 16.376 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.377 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.377 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.377 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.377 * [backup-simplify]: Simplify lambda2 into lambda2 16.377 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.377 * [backup-simplify]: Simplify lambda1 into lambda1 16.377 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.377 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 16.377 * [backup-simplify]: Simplify (* 0 0) into 0 16.378 * [backup-simplify]: Simplify (* 1 0) into 0 16.378 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.378 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 16.380 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.380 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0 16.380 * [backup-simplify]: Simplify (+ 0) into 0 16.381 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 16.381 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.382 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0 16.382 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 16.383 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.383 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2)) 16.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.386 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2)) 16.386 * [backup-simplify]: Simplify (* 1 1) into 1 16.386 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.386 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.386 * [backup-simplify]: Simplify (* 1 1) into 1 16.386 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.386 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.387 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.387 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.387 * [backup-simplify]: Simplify (* 1 1) into 1 16.387 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.387 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.387 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.387 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.387 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.388 * [backup-simplify]: Simplify (/ (* 0.5 (pow lambda1 2)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.5 (/ (pow lambda1 2) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.388 * [taylor]: Taking taylor expansion of (+ (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))) in phi1 16.388 * [taylor]: Taking taylor expansion of (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.388 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.388 * [backup-simplify]: Simplify 0.25 into 0.25 16.388 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.388 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4))) in phi1 16.388 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.388 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.388 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.388 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.388 * [backup-simplify]: Simplify 0.5 into 0.5 16.388 * [taylor]: Taking taylor expansion of phi1 in phi1 16.388 * [backup-simplify]: Simplify 0 into 0 16.388 * [backup-simplify]: Simplify 1 into 1 16.388 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.389 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.389 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 4)) in phi1 16.389 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.389 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.389 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.389 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.389 * [backup-simplify]: Simplify 0.5 into 0.5 16.389 * [taylor]: Taking taylor expansion of phi1 in phi1 16.389 * [backup-simplify]: Simplify 0 into 0 16.390 * [backup-simplify]: Simplify 1 into 1 16.390 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.391 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.392 * [taylor]: Taking taylor expansion of (pow lambda2 4) in phi1 16.392 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.392 * [backup-simplify]: Simplify lambda2 into lambda2 16.392 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.392 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.392 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.392 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.392 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.392 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.392 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.392 * [backup-simplify]: Simplify 0.5 into 0.5 16.392 * [taylor]: Taking taylor expansion of phi1 in phi1 16.392 * [backup-simplify]: Simplify 0 into 0 16.392 * [backup-simplify]: Simplify 1 into 1 16.393 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.394 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.394 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.394 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.394 * [backup-simplify]: Simplify lambda2 into lambda2 16.394 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.394 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.394 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.394 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.394 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.394 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.394 * [backup-simplify]: Simplify 0.5 into 0.5 16.394 * [taylor]: Taking taylor expansion of phi1 in phi1 16.394 * [backup-simplify]: Simplify 0 into 0 16.394 * [backup-simplify]: Simplify 1 into 1 16.394 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.395 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.395 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.395 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.395 * [backup-simplify]: Simplify lambda1 into lambda1 16.395 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.395 * [taylor]: Taking taylor expansion of phi1 in phi1 16.395 * [backup-simplify]: Simplify 0 into 0 16.395 * [backup-simplify]: Simplify 1 into 1 16.395 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.395 * [taylor]: Taking taylor expansion of 2 in phi1 16.395 * [backup-simplify]: Simplify 2 into 2 16.395 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.395 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.395 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.395 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.395 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.395 * [backup-simplify]: Simplify 0.5 into 0.5 16.395 * [taylor]: Taking taylor expansion of phi1 in phi1 16.395 * [backup-simplify]: Simplify 0 into 0 16.395 * [backup-simplify]: Simplify 1 into 1 16.396 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.397 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.397 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.397 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.397 * [backup-simplify]: Simplify lambda2 into lambda2 16.397 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.397 * [backup-simplify]: Simplify lambda1 into lambda1 16.397 * [backup-simplify]: Simplify (* 1 1) into 1 16.398 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 16.398 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.398 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow lambda2 2)) into (pow lambda2 4) 16.398 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 4)) into (* 0.25 (pow lambda2 4)) 16.398 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda2 4))) into (* 0.25 (pow lambda2 4)) 16.399 * [backup-simplify]: Simplify (* 1 1) into 1 16.399 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.399 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.399 * [backup-simplify]: Simplify (* 1 1) into 1 16.399 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.399 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.399 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.399 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.400 * [backup-simplify]: Simplify (* 1 1) into 1 16.400 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.400 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.400 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.400 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.400 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.400 * [backup-simplify]: Simplify (/ (* 0.25 (pow lambda2 4)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.25 (/ (pow lambda2 4) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.400 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) in phi1 16.400 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.400 * [taylor]: Taking taylor expansion of 1.0 in phi1 16.401 * [backup-simplify]: Simplify 1.0 into 1.0 16.401 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.401 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1))) in phi1 16.401 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.401 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.401 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.401 * [backup-simplify]: Simplify 0.5 into 0.5 16.401 * [taylor]: Taking taylor expansion of phi1 in phi1 16.401 * [backup-simplify]: Simplify 0 into 0 16.401 * [backup-simplify]: Simplify 1 into 1 16.401 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.402 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.402 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda2 2) phi1)) in phi1 16.402 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.402 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.402 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.402 * [backup-simplify]: Simplify 0.5 into 0.5 16.402 * [taylor]: Taking taylor expansion of phi1 in phi1 16.402 * [backup-simplify]: Simplify 0 into 0 16.402 * [backup-simplify]: Simplify 1 into 1 16.402 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.403 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.403 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 16.403 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.403 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.403 * [backup-simplify]: Simplify lambda2 into lambda2 16.403 * [taylor]: Taking taylor expansion of phi1 in phi1 16.403 * [backup-simplify]: Simplify 0 into 0 16.403 * [backup-simplify]: Simplify 1 into 1 16.403 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.403 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.403 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.404 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.404 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.404 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.404 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.404 * [backup-simplify]: Simplify 0.5 into 0.5 16.404 * [taylor]: Taking taylor expansion of phi1 in phi1 16.404 * [backup-simplify]: Simplify 0 into 0 16.404 * [backup-simplify]: Simplify 1 into 1 16.404 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.405 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.405 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.405 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.405 * [backup-simplify]: Simplify lambda2 into lambda2 16.405 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.405 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.405 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.405 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.405 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.405 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.405 * [backup-simplify]: Simplify 0.5 into 0.5 16.405 * [taylor]: Taking taylor expansion of phi1 in phi1 16.405 * [backup-simplify]: Simplify 0 into 0 16.405 * [backup-simplify]: Simplify 1 into 1 16.405 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.407 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.407 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.407 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.407 * [backup-simplify]: Simplify lambda1 into lambda1 16.407 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.407 * [taylor]: Taking taylor expansion of phi1 in phi1 16.407 * [backup-simplify]: Simplify 0 into 0 16.407 * [backup-simplify]: Simplify 1 into 1 16.407 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.407 * [taylor]: Taking taylor expansion of 2 in phi1 16.407 * [backup-simplify]: Simplify 2 into 2 16.407 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.407 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.407 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.407 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.407 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.407 * [backup-simplify]: Simplify 0.5 into 0.5 16.407 * [taylor]: Taking taylor expansion of phi1 in phi1 16.407 * [backup-simplify]: Simplify 0 into 0 16.407 * [backup-simplify]: Simplify 1 into 1 16.408 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.409 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.409 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.409 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.409 * [backup-simplify]: Simplify lambda2 into lambda2 16.409 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.409 * [backup-simplify]: Simplify lambda1 into lambda1 16.409 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.409 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 16.409 * [backup-simplify]: Simplify (* 0 0) into 0 16.409 * [backup-simplify]: Simplify (* 1 0) into 0 16.410 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.410 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 16.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.412 * [backup-simplify]: Simplify (+ (* 0 (pow lambda2 2)) (* 0.5 0)) into 0 16.412 * [backup-simplify]: Simplify (+ 0) into 0 16.413 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0 16.413 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.414 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 1) (* 0 0))) into 0 16.414 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 16.415 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 16.415 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda2 2)) (* 0 0))) into (* 0.5 (pow lambda2 2)) 16.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.418 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda2 2)) 16.418 * [backup-simplify]: Simplify (* 1 1) into 1 16.418 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.418 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.418 * [backup-simplify]: Simplify (* 1 1) into 1 16.418 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.418 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.418 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.419 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.419 * [backup-simplify]: Simplify (* 1 1) into 1 16.419 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.419 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.419 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.419 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.419 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.420 * [backup-simplify]: Simplify (/ (* 0.5 (pow lambda2 2)) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (* 0.5 (/ (pow lambda2 2) (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) 16.420 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) in phi1 16.420 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.420 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.420 * [backup-simplify]: Simplify 0.5 into 0.5 16.420 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.420 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 16.420 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 16.420 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.420 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.420 * [backup-simplify]: Simplify 0.5 into 0.5 16.420 * [taylor]: Taking taylor expansion of phi1 in phi1 16.420 * [backup-simplify]: Simplify 0 into 0 16.420 * [backup-simplify]: Simplify 1 into 1 16.420 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.421 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.422 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.422 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.422 * [backup-simplify]: Simplify lambda2 into lambda2 16.422 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.423 * [backup-simplify]: Simplify lambda1 into lambda1 16.423 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 16.423 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 16.423 * [taylor]: Taking taylor expansion of 0.25 in phi1 16.423 * [backup-simplify]: Simplify 0.25 into 0.25 16.423 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.423 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.423 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.423 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.423 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.423 * [backup-simplify]: Simplify 0.5 into 0.5 16.423 * [taylor]: Taking taylor expansion of phi1 in phi1 16.423 * [backup-simplify]: Simplify 0 into 0 16.423 * [backup-simplify]: Simplify 1 into 1 16.423 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.424 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.424 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.424 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.424 * [backup-simplify]: Simplify lambda1 into lambda1 16.424 * [taylor]: Taking taylor expansion of (/ (pow phi1 2) (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 16.424 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.424 * [taylor]: Taking taylor expansion of phi1 in phi1 16.424 * [backup-simplify]: Simplify 0 into 0 16.424 * [backup-simplify]: Simplify 1 into 1 16.424 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 16.424 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1 16.424 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 16.424 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.424 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.424 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.424 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.424 * [backup-simplify]: Simplify 0.5 into 0.5 16.424 * [taylor]: Taking taylor expansion of phi1 in phi1 16.424 * [backup-simplify]: Simplify 0 into 0 16.424 * [backup-simplify]: Simplify 1 into 1 16.425 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.425 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.425 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.425 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.425 * [backup-simplify]: Simplify lambda2 into lambda2 16.426 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1 16.426 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 16.426 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.426 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.426 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.426 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.426 * [backup-simplify]: Simplify 0.5 into 0.5 16.426 * [taylor]: Taking taylor expansion of phi1 in phi1 16.426 * [backup-simplify]: Simplify 0 into 0 16.426 * [backup-simplify]: Simplify 1 into 1 16.426 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.427 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.427 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.427 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.427 * [backup-simplify]: Simplify lambda1 into lambda1 16.427 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.427 * [taylor]: Taking taylor expansion of phi1 in phi1 16.427 * [backup-simplify]: Simplify 0 into 0 16.427 * [backup-simplify]: Simplify 1 into 1 16.427 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 16.427 * [taylor]: Taking taylor expansion of 2 in phi1 16.427 * [backup-simplify]: Simplify 2 into 2 16.427 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 16.427 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 16.427 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 16.427 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 16.427 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.427 * [backup-simplify]: Simplify 0.5 into 0.5 16.427 * [taylor]: Taking taylor expansion of phi1 in phi1 16.427 * [backup-simplify]: Simplify 0 into 0 16.427 * [backup-simplify]: Simplify 1 into 1 16.427 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.428 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 16.428 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.428 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.428 * [backup-simplify]: Simplify lambda2 into lambda2 16.428 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.428 * [backup-simplify]: Simplify lambda1 into lambda1 16.429 * [backup-simplify]: Simplify (* 1 1) into 1 16.429 * [backup-simplify]: Simplify (* 1 1) into 1 16.429 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.429 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.429 * [backup-simplify]: Simplify (* 1 1) into 1 16.429 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.429 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.430 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.430 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 16.430 * [backup-simplify]: Simplify (* 1 1) into 1 16.430 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.430 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.430 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 16.430 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 16.430 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 16.431 * [backup-simplify]: Simplify (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) into (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) 16.431 * [backup-simplify]: Simplify (* 1 1) into 1 16.431 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.431 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 16.431 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 16.431 * [backup-simplify]: Simplify (+ 0 1) into 1 16.432 * [backup-simplify]: Simplify (+ 0 1) into 1 16.432 * [backup-simplify]: Simplify (+ 0 1) into 1 16.432 * [backup-simplify]: Simplify (+ 0 1) into 1 16.432 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 1) into (+ 1 (* 0.5 (* lambda2 lambda1))) 16.432 * [backup-simplify]: Simplify (+ 0 (+ 1 (* 0.5 (* lambda2 lambda1)))) into (+ (* 0.5 (* lambda2 lambda1)) 1) 16.433 * [backup-simplify]: Simplify (* 1 1) into 1 16.433 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.433 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 16.433 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 16.433 * [backup-simplify]: Simplify (* 1 1) into 1 16.433 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.433 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 16.433 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 16.433 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 16.433 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 16.434 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 16.434 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 16.434 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 16.434 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 16.434 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2)) 16.434 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) (* 0.25 (pow lambda1 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 16.434 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 16.435 * [backup-simplify]: Simplify (+ (+ (* 0.5 (* lambda2 lambda1)) 1) (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))))) into (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 16.435 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))))) into (* (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) 16.436 * [backup-simplify]: Simplify (* 1/2 (* (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into (* 1/2 (* (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) 16.436 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) in lambda2 16.436 * [taylor]: Taking taylor expansion of 1/2 in lambda2 16.436 * [backup-simplify]: Simplify 1/2 into 1/2 16.436 * [taylor]: Taking taylor expansion of (* (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) in lambda2 16.436 * [taylor]: Taking taylor expansion of (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda2 16.436 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* lambda2 lambda1)) 1) in lambda2 16.436 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda2 16.436 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.436 * [backup-simplify]: Simplify 0.5 into 0.5 16.436 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.436 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.436 * [backup-simplify]: Simplify 0 into 0 16.436 * [backup-simplify]: Simplify 1 into 1 16.436 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.436 * [backup-simplify]: Simplify lambda1 into lambda1 16.436 * [taylor]: Taking taylor expansion of 1 in lambda2 16.436 * [backup-simplify]: Simplify 1 into 1 16.436 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda2 16.436 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda2 16.436 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.436 * [backup-simplify]: Simplify 0.25 into 0.25 16.436 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.436 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.436 * [backup-simplify]: Simplify lambda1 into lambda1 16.436 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 16.436 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.436 * [backup-simplify]: Simplify 0.25 into 0.25 16.436 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.436 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.436 * [backup-simplify]: Simplify 0 into 0 16.436 * [backup-simplify]: Simplify 1 into 1 16.437 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda2 16.437 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda2 16.437 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 16.437 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 16.437 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.437 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.437 * [backup-simplify]: Simplify lambda1 into lambda1 16.437 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.437 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.437 * [backup-simplify]: Simplify 0 into 0 16.437 * [backup-simplify]: Simplify 1 into 1 16.437 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 16.437 * [taylor]: Taking taylor expansion of 2 in lambda2 16.437 * [backup-simplify]: Simplify 2 into 2 16.437 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.437 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.437 * [backup-simplify]: Simplify 0 into 0 16.437 * [backup-simplify]: Simplify 1 into 1 16.437 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.437 * [backup-simplify]: Simplify lambda1 into lambda1 16.437 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.437 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.437 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.437 * [backup-simplify]: Simplify (* 2 0) into 0 16.438 * [backup-simplify]: Simplify (- 0) into 0 16.438 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.438 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 16.438 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 16.438 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.438 * [backup-simplify]: Simplify (+ 0 0) into 0 16.438 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.439 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 16.439 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 16.439 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 16.439 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ (- (* 2 lambda1)) (pow lambda1 2))))) into (* 2 (/ 1 (pow lambda1 3))) 16.439 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda1 3))) (* 2 (sqrt (/ 1 (pow lambda1 2))))) into (/ 1 (pow lambda1 2)) 16.439 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.440 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.440 * [backup-simplify]: Simplify (+ 0 1) into 1 16.440 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.440 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 16.440 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 16.440 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2))) 16.440 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda1 2)))) into (- 1 (* 0.25 (pow lambda1 2))) 16.441 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda1 2))) (/ 1 lambda1)) into (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) 16.441 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) 16.441 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1 16.441 * [taylor]: Taking taylor expansion of 1/2 in lambda1 16.441 * [backup-simplify]: Simplify 1/2 into 1/2 16.441 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1 16.441 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1 16.441 * [taylor]: Taking taylor expansion of 1 in lambda1 16.441 * [backup-simplify]: Simplify 1 into 1 16.441 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 16.441 * [taylor]: Taking taylor expansion of 0.25 in lambda1 16.441 * [backup-simplify]: Simplify 0.25 into 0.25 16.441 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.441 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.441 * [backup-simplify]: Simplify 0 into 0 16.441 * [backup-simplify]: Simplify 1 into 1 16.441 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.441 * [backup-simplify]: Simplify 0 into 0 16.441 * [backup-simplify]: Simplify 1 into 1 16.441 * [backup-simplify]: Simplify (+ 1 0) into 1 16.441 * [backup-simplify]: Simplify (/ 1 1) into 1 16.442 * [backup-simplify]: Simplify (+ 0 0) into 0 16.442 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 16.443 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 16.443 * [backup-simplify]: Simplify 0 into 0 16.443 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.445 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 16.445 * [backup-simplify]: Simplify (+ 0) into 0 16.445 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 16.445 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 16.445 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.453 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 16.453 * [backup-simplify]: Simplify (+ 0) into 0 16.454 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 16.454 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 16.454 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 16.456 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 16.456 * [backup-simplify]: Simplify (+ 0) into 0 16.456 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 16.457 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 16.457 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 16.457 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda2 2)) 2) into (+ (* 0.5 (pow lambda2 2)) 2) 16.458 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) (+ (* 0.5 (pow lambda2 2)) 2)) into (+ (* 0.5 (pow lambda1 2)) (+ (* 0.5 (pow lambda2 2)) 2)) 16.458 * [backup-simplify]: Simplify (- (+ (* 0.5 (pow lambda1 2)) (+ (* 0.5 (pow lambda2 2)) 2))) into (- (+ (* 0.5 (pow lambda1 2)) (+ (* 0.5 (pow lambda2 2)) 2))) 16.458 * [backup-simplify]: Simplify (+ (* 1.0 (* lambda2 lambda1)) (- (+ (* 0.5 (pow lambda1 2)) (+ (* 0.5 (pow lambda2 2)) 2)))) into (- (* 1.0 (* lambda2 lambda1)) (+ 2 (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))))) 16.459 * [backup-simplify]: Simplify (+ (* 0 0) (* (- (* 1.0 (* lambda2 lambda1)) (+ 2 (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) into (- (* 1.0 (* (* lambda2 lambda1) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) (+ (* 0.5 (* (pow lambda2 2) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) (+ (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2)))))) 16.461 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 1.0 (* (* lambda2 lambda1) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) (+ (* 0.5 (* (pow lambda2 2) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) (+ (* 2 (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))))))) (* 0 0)) into (- (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1))) (+ (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) (+ (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))))) 16.461 * [taylor]: Taking taylor expansion of (- (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1))) (+ (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) (+ (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))))) in lambda2 16.461 * [taylor]: Taking taylor expansion of (* 0.5 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1))) in lambda2 16.461 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.461 * [backup-simplify]: Simplify 0.5 into 0.5 16.461 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (* lambda2 lambda1)) in lambda2 16.461 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda2 16.461 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda2 16.461 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 16.461 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 16.461 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.461 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.461 * [backup-simplify]: Simplify lambda1 into lambda1 16.461 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.461 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.461 * [backup-simplify]: Simplify 0 into 0 16.461 * [backup-simplify]: Simplify 1 into 1 16.461 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 16.461 * [taylor]: Taking taylor expansion of 2 in lambda2 16.461 * [backup-simplify]: Simplify 2 into 2 16.461 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.462 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.462 * [backup-simplify]: Simplify 0 into 0 16.462 * [backup-simplify]: Simplify 1 into 1 16.462 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.462 * [backup-simplify]: Simplify lambda1 into lambda1 16.462 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.462 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.462 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.462 * [backup-simplify]: Simplify (* 2 0) into 0 16.462 * [backup-simplify]: Simplify (- 0) into 0 16.462 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.462 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 16.463 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 16.463 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.463 * [backup-simplify]: Simplify (+ 0 0) into 0 16.463 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.463 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 16.463 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 16.463 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 16.464 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ (- (* 2 lambda1)) (pow lambda1 2))))) into (* 2 (/ 1 (pow lambda1 3))) 16.464 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda1 3))) (* 2 (sqrt (/ 1 (pow lambda1 2))))) into (/ 1 (pow lambda1 2)) 16.464 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.464 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.464 * [backup-simplify]: Simplify 0 into 0 16.464 * [backup-simplify]: Simplify 1 into 1 16.464 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.464 * [backup-simplify]: Simplify lambda1 into lambda1 16.464 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) (+ (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) in lambda2 16.464 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2))) in lambda2 16.464 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.464 * [backup-simplify]: Simplify 0.25 into 0.25 16.464 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda2 2)) in lambda2 16.464 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda2 16.464 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda2 16.464 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 16.464 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 16.464 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.464 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.464 * [backup-simplify]: Simplify lambda1 into lambda1 16.464 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.464 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.464 * [backup-simplify]: Simplify 0 into 0 16.464 * [backup-simplify]: Simplify 1 into 1 16.464 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 16.464 * [taylor]: Taking taylor expansion of 2 in lambda2 16.464 * [backup-simplify]: Simplify 2 into 2 16.464 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.464 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.464 * [backup-simplify]: Simplify 0 into 0 16.464 * [backup-simplify]: Simplify 1 into 1 16.464 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.464 * [backup-simplify]: Simplify lambda1 into lambda1 16.464 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.465 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.465 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.465 * [backup-simplify]: Simplify (* 2 0) into 0 16.465 * [backup-simplify]: Simplify (- 0) into 0 16.465 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.465 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 16.465 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 16.465 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.466 * [backup-simplify]: Simplify (+ 0 0) into 0 16.466 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.466 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 16.467 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 16.467 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 16.467 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ (- (* 2 lambda1)) (pow lambda1 2))))) into (* 2 (/ 1 (pow lambda1 3))) 16.467 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda1 3))) (* 2 (sqrt (/ 1 (pow lambda1 2))))) into (/ 1 (pow lambda1 2)) 16.467 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.467 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.467 * [backup-simplify]: Simplify 0 into 0 16.467 * [backup-simplify]: Simplify 1 into 1 16.467 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) in lambda2 16.467 * [taylor]: Taking taylor expansion of (* 0.25 (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2))) in lambda2 16.467 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.467 * [backup-simplify]: Simplify 0.25 into 0.25 16.467 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) (pow lambda1 2)) in lambda2 16.467 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda2 16.467 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda2 16.467 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 16.467 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 16.467 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.467 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.467 * [backup-simplify]: Simplify lambda1 into lambda1 16.467 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.467 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.467 * [backup-simplify]: Simplify 0 into 0 16.467 * [backup-simplify]: Simplify 1 into 1 16.467 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 16.467 * [taylor]: Taking taylor expansion of 2 in lambda2 16.467 * [backup-simplify]: Simplify 2 into 2 16.467 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.467 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.468 * [backup-simplify]: Simplify 0 into 0 16.468 * [backup-simplify]: Simplify 1 into 1 16.468 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.468 * [backup-simplify]: Simplify lambda1 into lambda1 16.468 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.468 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.468 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.468 * [backup-simplify]: Simplify (* 2 0) into 0 16.468 * [backup-simplify]: Simplify (- 0) into 0 16.468 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.468 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 16.469 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 16.469 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.469 * [backup-simplify]: Simplify (+ 0 0) into 0 16.469 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.469 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 16.469 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 16.469 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 16.470 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ (- (* 2 lambda1)) (pow lambda1 2))))) into (* 2 (/ 1 (pow lambda1 3))) 16.470 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda1 3))) (* 2 (sqrt (/ 1 (pow lambda1 2))))) into (/ 1 (pow lambda1 2)) 16.470 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.470 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.470 * [backup-simplify]: Simplify lambda1 into lambda1 16.470 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda2 16.470 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda2 16.470 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 16.470 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 16.470 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.470 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.470 * [backup-simplify]: Simplify lambda1 into lambda1 16.470 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.470 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.470 * [backup-simplify]: Simplify 0 into 0 16.470 * [backup-simplify]: Simplify 1 into 1 16.470 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 16.470 * [taylor]: Taking taylor expansion of 2 in lambda2 16.470 * [backup-simplify]: Simplify 2 into 2 16.470 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.470 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.470 * [backup-simplify]: Simplify 0 into 0 16.470 * [backup-simplify]: Simplify 1 into 1 16.470 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.470 * [backup-simplify]: Simplify lambda1 into lambda1 16.470 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.470 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.470 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.471 * [backup-simplify]: Simplify (* 2 0) into 0 16.471 * [backup-simplify]: Simplify (- 0) into 0 16.471 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.471 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 16.471 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 16.471 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.472 * [backup-simplify]: Simplify (+ 0 0) into 0 16.472 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.472 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 16.472 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 16.472 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 16.472 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ (- (* 2 lambda1)) (pow lambda1 2))))) into (* 2 (/ 1 (pow lambda1 3))) 16.473 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda1 3))) (* 2 (sqrt (/ 1 (pow lambda1 2))))) into (/ 1 (pow lambda1 2)) 16.473 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.473 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0 16.473 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.473 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.473 * [backup-simplify]: Simplify (* (/ 1 lambda1) (pow lambda1 2)) into lambda1 16.473 * [backup-simplify]: Simplify (* 0.25 lambda1) into (* 0.25 lambda1) 16.473 * [backup-simplify]: Simplify (+ (* 0.25 lambda1) (/ 1 lambda1)) into (+ (/ 1 lambda1) (* 0.25 lambda1)) 16.473 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 lambda1) (* 0.25 lambda1))) into (+ (/ 1 lambda1) (* 0.25 lambda1)) 16.473 * [backup-simplify]: Simplify (- (+ (/ 1 lambda1) (* 0.25 lambda1))) into (- (+ (/ 1 lambda1) (* 0.25 lambda1))) 16.474 * [backup-simplify]: Simplify (+ 0 (- (+ (/ 1 lambda1) (* 0.25 lambda1)))) into (- (+ (/ 1 lambda1) (* 0.25 lambda1))) 16.474 * [taylor]: Taking taylor expansion of (- (+ (/ 1 lambda1) (* 0.25 lambda1))) in lambda1 16.474 * [taylor]: Taking taylor expansion of (+ (/ 1 lambda1) (* 0.25 lambda1)) in lambda1 16.474 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 16.474 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.474 * [backup-simplify]: Simplify 0 into 0 16.474 * [backup-simplify]: Simplify 1 into 1 16.474 * [backup-simplify]: Simplify (/ 1 1) into 1 16.474 * [taylor]: Taking taylor expansion of (* 0.25 lambda1) in lambda1 16.474 * [taylor]: Taking taylor expansion of 0.25 in lambda1 16.474 * [backup-simplify]: Simplify 0.25 into 0.25 16.474 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.474 * [backup-simplify]: Simplify 0 into 0 16.474 * [backup-simplify]: Simplify 1 into 1 16.475 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.475 * [backup-simplify]: Simplify (* 0.25 0) into 0 16.475 * [backup-simplify]: Simplify (+ 0 0) into 0 16.475 * [backup-simplify]: Simplify (- 0) into 0 16.475 * [backup-simplify]: Simplify 0 into 0 16.476 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 16.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.480 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.480 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 16.481 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.482 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.485 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.486 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 16.486 * [backup-simplify]: Simplify (* 1 1) into 1 16.486 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2))) 16.486 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda2 2))) (- 1 (* 0.25 (pow lambda1 2)))) into (- 1 (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 16.487 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 16.491 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 16.491 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 16.492 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 16.492 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 16.492 * [backup-simplify]: Simplify (+ (- 1 (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (* 0.5 (* lambda2 lambda1))) into (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 16.493 * [backup-simplify]: Simplify (/ (- (- (+ (* 0.5 (* lambda2 lambda1)) 1) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) into (* 1/2 (* (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) 16.493 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))))) in lambda2 16.493 * [taylor]: Taking taylor expansion of 1/2 in lambda2 16.493 * [backup-simplify]: Simplify 1/2 into 1/2 16.493 * [taylor]: Taking taylor expansion of (* (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))))) in lambda2 16.493 * [taylor]: Taking taylor expansion of (- (+ 1 (* 0.5 (* lambda2 lambda1))) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda2 16.493 * [taylor]: Taking taylor expansion of (+ 1 (* 0.5 (* lambda2 lambda1))) in lambda2 16.493 * [taylor]: Taking taylor expansion of 1 in lambda2 16.493 * [backup-simplify]: Simplify 1 into 1 16.493 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda2 16.493 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.493 * [backup-simplify]: Simplify 0.5 into 0.5 16.493 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.493 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.493 * [backup-simplify]: Simplify 0 into 0 16.494 * [backup-simplify]: Simplify 1 into 1 16.494 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.494 * [backup-simplify]: Simplify lambda1 into lambda1 16.494 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda2 16.494 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda2 16.494 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.494 * [backup-simplify]: Simplify 0.25 into 0.25 16.494 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.494 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.494 * [backup-simplify]: Simplify lambda1 into lambda1 16.494 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 16.494 * [taylor]: Taking taylor expansion of 0.25 in lambda2 16.494 * [backup-simplify]: Simplify 0.25 into 0.25 16.494 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.494 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.494 * [backup-simplify]: Simplify 0 into 0 16.494 * [backup-simplify]: Simplify 1 into 1 16.494 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))))) in lambda2 16.494 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))) in lambda2 16.494 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 16.494 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 16.494 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.494 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.494 * [backup-simplify]: Simplify lambda1 into lambda1 16.494 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.494 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.494 * [backup-simplify]: Simplify 0 into 0 16.494 * [backup-simplify]: Simplify 1 into 1 16.494 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 16.494 * [taylor]: Taking taylor expansion of 2 in lambda2 16.494 * [backup-simplify]: Simplify 2 into 2 16.494 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.494 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.494 * [backup-simplify]: Simplify 0 into 0 16.494 * [backup-simplify]: Simplify 1 into 1 16.494 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.494 * [backup-simplify]: Simplify lambda1 into lambda1 16.494 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.494 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.494 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.495 * [backup-simplify]: Simplify (* 2 0) into 0 16.495 * [backup-simplify]: Simplify (- 0) into 0 16.495 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 16.495 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2)) 16.495 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1) 16.495 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.495 * [backup-simplify]: Simplify (+ 0 0) into 0 16.496 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.496 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 16.496 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 16.496 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 16.496 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ (- (* 2 lambda1)) (pow lambda1 2))))) into (* 2 (/ 1 (pow lambda1 3))) 16.496 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow lambda1 3))) (* 2 (sqrt (/ 1 (pow lambda1 2))))) into (/ 1 (pow lambda1 2)) 16.497 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.497 * [backup-simplify]: Simplify (* 0.5 0) into 0 16.497 * [backup-simplify]: Simplify (+ 1 0) into 1 16.497 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.497 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 16.497 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 16.497 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2))) 16.498 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda1 2)))) into (- 1 (* 0.25 (pow lambda1 2))) 16.498 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda1 2))) (/ 1 lambda1)) into (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) 16.498 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) 16.498 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1 16.498 * [taylor]: Taking taylor expansion of 1/2 in lambda1 16.498 * [backup-simplify]: Simplify 1/2 into 1/2 16.498 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1 16.498 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1 16.498 * [taylor]: Taking taylor expansion of 1 in lambda1 16.498 * [backup-simplify]: Simplify 1 into 1 16.498 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 16.498 * [taylor]: Taking taylor expansion of 0.25 in lambda1 16.498 * [backup-simplify]: Simplify 0.25 into 0.25 16.498 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.498 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.498 * [backup-simplify]: Simplify 0 into 0 16.498 * [backup-simplify]: Simplify 1 into 1 16.498 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.498 * [backup-simplify]: Simplify 0 into 0 16.498 * [backup-simplify]: Simplify 1 into 1 16.498 * [backup-simplify]: Simplify (+ 1 0) into 1 16.499 * [backup-simplify]: Simplify (/ 1 1) into 1 16.499 * [backup-simplify]: Simplify (+ 0 0) into 0 16.499 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 16.500 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 16.500 * [backup-simplify]: Simplify 0 into 0 16.500 * [taylor]: Taking taylor expansion of 0 in lambda1 16.500 * [backup-simplify]: Simplify 0 into 0 16.500 * [backup-simplify]: Simplify 0 into 0 16.500 * [taylor]: Taking taylor expansion of 0 in lambda1 16.500 * [backup-simplify]: Simplify 0 into 0 16.500 * [backup-simplify]: Simplify 0 into 0 16.500 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 16.500 * [backup-simplify]: Simplify (* 1 1) into 1 16.501 * [backup-simplify]: Simplify (+ 0 1) into 1 16.501 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 16.502 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda1) (* 0 0))) into 0 16.502 * [backup-simplify]: Simplify (- 0) into 0 16.502 * [backup-simplify]: Simplify (+ 1 0) into 1 16.503 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 lambda1)) into 0 16.503 * [taylor]: Taking taylor expansion of 0 in lambda1 16.503 * [backup-simplify]: Simplify 0 into 0 16.503 * [backup-simplify]: Simplify 0 into 0 16.503 * [backup-simplify]: Simplify (+ (* 1 (* lambda1 (* 1 (* 1 1)))) (* -1 (* 1 (* lambda2 (* 1 1))))) into (- lambda1 lambda2) 16.507 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (cos (* 0.5 (/ 1 phi2))) 2) (* (pow (cos (* 0.5 (/ 1 phi1))) 2) (pow (/ 1 lambda2) 2))) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2)) (* (pow (sin (* 0.5 (/ 1 phi2))) 2) (* (pow (/ 1 lambda2) 2) (pow (sin (* 0.5 (/ 1 phi1))) 2))))) (+ (* (cos (* 0.5 (/ 1 phi2))) (* (sin (* 0.5 (/ 1 phi1))) (* (cos (* 0.5 (/ 1 phi1))) (* (sin (* 0.5 (/ 1 phi2))) (pow (/ 1 lambda2) 2))))) (+ (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1)))) (* (cos (* 0.5 (/ 1 phi1))) (* (sin (* 0.5 (/ 1 phi2))) (* (cos (* 0.5 (/ 1 phi2))) (* (sin (* 0.5 (/ 1 phi1))) (pow (/ 1 lambda2) 2)))))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) 16.507 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in (phi2 phi1 lambda2 lambda1) around 0 16.507 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda1 16.507 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda1 16.507 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda1 16.507 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 16.507 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 16.507 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 16.507 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.507 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.507 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.507 * [backup-simplify]: Simplify 0.5 into 0.5 16.507 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.507 * [backup-simplify]: Simplify phi1 into phi1 16.507 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.507 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.507 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.507 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.507 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.507 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.507 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 16.507 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 16.507 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.507 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.508 * [backup-simplify]: Simplify 0.5 into 0.5 16.508 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.508 * [backup-simplify]: Simplify phi2 into phi2 16.508 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.508 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.508 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.508 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.508 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.508 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.508 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.508 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.508 * [backup-simplify]: Simplify lambda2 into lambda2 16.508 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.508 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.508 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.508 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.509 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.509 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda1 16.509 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 16.509 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 16.509 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.509 * [backup-simplify]: Simplify phi2 into phi2 16.509 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.509 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 16.509 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda1 16.509 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 16.509 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 16.509 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.509 * [backup-simplify]: Simplify phi1 into phi1 16.509 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.509 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.509 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda1 16.509 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 16.509 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 16.509 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 16.509 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 16.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.509 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.509 * [backup-simplify]: Simplify 0.5 into 0.5 16.509 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.509 * [backup-simplify]: Simplify phi1 into phi1 16.509 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.509 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.509 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.509 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.510 * [backup-simplify]: Simplify (- 0) into 0 16.510 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.510 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 16.510 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 16.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.510 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.510 * [backup-simplify]: Simplify 0.5 into 0.5 16.510 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.510 * [backup-simplify]: Simplify phi2 into phi2 16.510 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.510 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.510 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.511 * [backup-simplify]: Simplify (- 0) into 0 16.511 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.511 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.511 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.511 * [backup-simplify]: Simplify lambda2 into lambda2 16.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.511 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.511 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.511 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.512 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 16.512 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.512 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.512 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.512 * [backup-simplify]: Simplify 0.5 into 0.5 16.512 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.512 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.512 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.512 * [backup-simplify]: Simplify phi1 into phi1 16.512 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.512 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.512 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.512 * [backup-simplify]: Simplify phi2 into phi2 16.512 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.512 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.512 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.512 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.512 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.512 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.512 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.513 * [backup-simplify]: Simplify (- 0) into 0 16.513 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.513 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.513 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.513 * [backup-simplify]: Simplify 0 into 0 16.513 * [backup-simplify]: Simplify 1 into 1 16.513 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.513 * [backup-simplify]: Simplify (* 1 1) into 1 16.513 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.514 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda1 16.514 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 16.514 * [taylor]: Taking taylor expansion of 2 in lambda1 16.514 * [backup-simplify]: Simplify 2 into 2 16.514 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 16.514 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.514 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.514 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.514 * [backup-simplify]: Simplify 0.5 into 0.5 16.514 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.514 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.514 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.514 * [backup-simplify]: Simplify phi1 into phi1 16.514 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.514 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.514 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.514 * [backup-simplify]: Simplify phi2 into phi2 16.514 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.514 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.514 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.514 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.514 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.514 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.514 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.515 * [backup-simplify]: Simplify (- 0) into 0 16.515 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.515 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.515 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.515 * [backup-simplify]: Simplify lambda2 into lambda2 16.515 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.515 * [backup-simplify]: Simplify 0 into 0 16.515 * [backup-simplify]: Simplify 1 into 1 16.515 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.515 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.515 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 16.516 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 16.516 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda1 16.516 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 16.516 * [taylor]: Taking taylor expansion of 2 in lambda1 16.516 * [backup-simplify]: Simplify 2 into 2 16.516 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 16.516 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 16.516 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.516 * [backup-simplify]: Simplify phi2 into phi2 16.516 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.516 * [backup-simplify]: Simplify phi1 into phi1 16.516 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 16.516 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 16.516 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1 16.516 * [taylor]: Taking taylor expansion of 2 in lambda1 16.516 * [backup-simplify]: Simplify 2 into 2 16.516 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1 16.516 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 16.516 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 16.516 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.516 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.516 * [backup-simplify]: Simplify 0.5 into 0.5 16.516 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.516 * [backup-simplify]: Simplify phi1 into phi1 16.516 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.516 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.516 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.516 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 16.516 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 16.516 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 16.516 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.516 * [backup-simplify]: Simplify 0.5 into 0.5 16.516 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.516 * [backup-simplify]: Simplify phi1 into phi1 16.516 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.516 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.517 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 16.517 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 16.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.517 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.517 * [backup-simplify]: Simplify 0.5 into 0.5 16.517 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.517 * [backup-simplify]: Simplify phi2 into phi2 16.517 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.517 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.517 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 16.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 16.517 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.517 * [backup-simplify]: Simplify 0.5 into 0.5 16.517 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.517 * [backup-simplify]: Simplify phi2 into phi2 16.517 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.517 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.517 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.517 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.517 * [backup-simplify]: Simplify lambda2 into lambda2 16.517 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.518 * [backup-simplify]: Simplify (- 0) into 0 16.518 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.519 * [backup-simplify]: Simplify (- 0) into 0 16.519 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.519 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.519 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 16.520 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.520 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.520 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.520 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.520 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.520 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.521 * [backup-simplify]: Simplify (+ 0) into 0 16.521 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 16.521 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 16.521 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 16.522 * [backup-simplify]: Simplify (+ 0 0) into 0 16.522 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 16.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.523 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 16.523 * [backup-simplify]: Simplify (- 0) into 0 16.523 * [backup-simplify]: Simplify (+ 0 0) into 0 16.524 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 16.524 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.525 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 16.525 * [backup-simplify]: Simplify (+ 0 0) into 0 16.525 * [backup-simplify]: Simplify (+ 0 0) into 0 16.525 * [backup-simplify]: Simplify (+ 0 0) into 0 16.526 * [backup-simplify]: Simplify (+ 0 0) into 0 16.526 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.526 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.526 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 16.527 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 16.527 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 16.527 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda2 16.527 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda2 16.527 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda2 16.527 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.527 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.527 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.527 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.527 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.527 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.527 * [backup-simplify]: Simplify 0.5 into 0.5 16.527 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.527 * [backup-simplify]: Simplify phi1 into phi1 16.527 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.527 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.528 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.528 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.528 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.528 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.528 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.528 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.528 * [backup-simplify]: Simplify 0.5 into 0.5 16.528 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.528 * [backup-simplify]: Simplify phi2 into phi2 16.528 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.528 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.528 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.528 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.528 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.528 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.528 * [backup-simplify]: Simplify 0 into 0 16.528 * [backup-simplify]: Simplify 1 into 1 16.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.529 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.529 * [backup-simplify]: Simplify (* 1 1) into 1 16.529 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.529 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda2 16.529 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 16.529 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 16.529 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.529 * [backup-simplify]: Simplify phi2 into phi2 16.529 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.529 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 16.529 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda2 16.529 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 16.529 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 16.529 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.530 * [backup-simplify]: Simplify phi1 into phi1 16.530 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.530 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.530 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda2 16.530 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.530 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.530 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.530 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.530 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.530 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.530 * [backup-simplify]: Simplify 0.5 into 0.5 16.530 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.530 * [backup-simplify]: Simplify phi1 into phi1 16.530 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.530 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.530 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.530 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.530 * [backup-simplify]: Simplify (- 0) into 0 16.530 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.530 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.530 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.531 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.531 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.531 * [backup-simplify]: Simplify 0.5 into 0.5 16.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.531 * [backup-simplify]: Simplify phi2 into phi2 16.531 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.531 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.531 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.531 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.531 * [backup-simplify]: Simplify (- 0) into 0 16.531 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.531 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.531 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.531 * [backup-simplify]: Simplify 0 into 0 16.531 * [backup-simplify]: Simplify 1 into 1 16.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.532 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.532 * [backup-simplify]: Simplify (* 1 1) into 1 16.532 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.532 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 16.532 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.532 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.532 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.532 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.532 * [backup-simplify]: Simplify 0.5 into 0.5 16.532 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.532 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.532 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.532 * [backup-simplify]: Simplify phi1 into phi1 16.532 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.532 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.532 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.532 * [backup-simplify]: Simplify phi2 into phi2 16.532 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.532 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.533 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.533 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.533 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.533 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.533 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.533 * [backup-simplify]: Simplify (- 0) into 0 16.533 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.533 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.533 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.533 * [backup-simplify]: Simplify lambda1 into lambda1 16.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.534 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.534 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.534 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 16.534 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 16.534 * [taylor]: Taking taylor expansion of 2 in lambda2 16.534 * [backup-simplify]: Simplify 2 into 2 16.534 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 16.534 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.534 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.534 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.534 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.534 * [backup-simplify]: Simplify 0.5 into 0.5 16.534 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.534 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.534 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.534 * [backup-simplify]: Simplify phi1 into phi1 16.534 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.534 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.534 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.534 * [backup-simplify]: Simplify phi2 into phi2 16.534 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.534 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.534 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.535 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.535 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.535 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.535 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.535 * [backup-simplify]: Simplify (- 0) into 0 16.535 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.535 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.535 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.535 * [backup-simplify]: Simplify 0 into 0 16.535 * [backup-simplify]: Simplify 1 into 1 16.535 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.535 * [backup-simplify]: Simplify lambda1 into lambda1 16.536 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.536 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.536 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.536 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 16.536 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 16.536 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 16.536 * [taylor]: Taking taylor expansion of 2 in lambda2 16.536 * [backup-simplify]: Simplify 2 into 2 16.536 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 16.536 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 16.536 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.536 * [backup-simplify]: Simplify phi2 into phi2 16.536 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.536 * [backup-simplify]: Simplify phi1 into phi1 16.536 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 16.536 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 16.536 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 16.536 * [taylor]: Taking taylor expansion of 2 in lambda2 16.536 * [backup-simplify]: Simplify 2 into 2 16.536 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 16.536 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.536 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.536 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.536 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.536 * [backup-simplify]: Simplify 0.5 into 0.5 16.536 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.536 * [backup-simplify]: Simplify phi1 into phi1 16.537 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.537 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.537 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.537 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.537 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.537 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.537 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.537 * [backup-simplify]: Simplify 0.5 into 0.5 16.537 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.537 * [backup-simplify]: Simplify phi1 into phi1 16.537 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.537 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.537 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.537 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.537 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.537 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.537 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.537 * [backup-simplify]: Simplify 0.5 into 0.5 16.537 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.537 * [backup-simplify]: Simplify phi2 into phi2 16.537 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.537 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.537 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.537 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.537 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.537 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.537 * [backup-simplify]: Simplify 0.5 into 0.5 16.537 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.537 * [backup-simplify]: Simplify phi2 into phi2 16.537 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.537 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.537 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.537 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.537 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.537 * [backup-simplify]: Simplify 0 into 0 16.537 * [backup-simplify]: Simplify 1 into 1 16.537 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.538 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.538 * [backup-simplify]: Simplify (- 0) into 0 16.538 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.538 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.538 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.538 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.538 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.538 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.538 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.538 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.538 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.539 * [backup-simplify]: Simplify (- 0) into 0 16.539 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.539 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.539 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.539 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.539 * [backup-simplify]: Simplify (* 1 1) into 1 16.540 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.540 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 0) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.540 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.540 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.541 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.541 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.541 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.541 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.542 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.542 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.543 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.544 * [backup-simplify]: Simplify (+ 0) into 0 16.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.545 * [backup-simplify]: Simplify (+ 0 0) into 0 16.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.545 * [backup-simplify]: Simplify (+ 0) into 0 16.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.546 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.547 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.547 * [backup-simplify]: Simplify (+ 0 0) into 0 16.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.547 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.548 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.548 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 16.549 * [backup-simplify]: Simplify (+ 0) into 0 16.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.550 * [backup-simplify]: Simplify (- 0) into 0 16.550 * [backup-simplify]: Simplify (+ 0 0) into 0 16.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.551 * [backup-simplify]: Simplify (+ 0) into 0 16.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.551 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.557 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.557 * [backup-simplify]: Simplify (- 0) into 0 16.557 * [backup-simplify]: Simplify (+ 0 0) into 0 16.557 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.558 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.558 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.559 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 16.559 * [backup-simplify]: Simplify (+ 0 0) into 0 16.559 * [backup-simplify]: Simplify (+ 0 0) into 0 16.560 * [backup-simplify]: Simplify (+ 0 0) into 0 16.560 * [backup-simplify]: Simplify (+ 0 0) into 0 16.560 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.560 * [backup-simplify]: Simplify (+ 0) into 0 16.561 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.562 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.563 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.563 * [backup-simplify]: Simplify (- 0) into 0 16.563 * [backup-simplify]: Simplify (+ 0 0) into 0 16.564 * [backup-simplify]: Simplify (+ 0) into 0 16.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.564 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.565 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.565 * [backup-simplify]: Simplify (+ 0 0) into 0 16.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.565 * [backup-simplify]: Simplify (+ 0) into 0 16.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.566 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.567 * [backup-simplify]: Simplify (+ 0 0) into 0 16.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.568 * [backup-simplify]: Simplify (+ 0) into 0 16.568 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.568 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.569 * [backup-simplify]: Simplify (- 0) into 0 16.569 * [backup-simplify]: Simplify (+ 0 0) into 0 16.570 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.570 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.571 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0 16.571 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.571 * [backup-simplify]: Simplify (+ 0 0) into 0 16.572 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.572 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.572 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.573 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.573 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in phi1 16.573 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi1 16.573 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in phi1 16.574 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.574 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.574 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.574 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.574 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.574 * [backup-simplify]: Simplify 0.5 into 0.5 16.574 * [taylor]: Taking taylor expansion of phi1 in phi1 16.574 * [backup-simplify]: Simplify 0 into 0 16.574 * [backup-simplify]: Simplify 1 into 1 16.574 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.574 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.574 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.574 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.574 * [backup-simplify]: Simplify 0.5 into 0.5 16.574 * [taylor]: Taking taylor expansion of phi2 in phi1 16.574 * [backup-simplify]: Simplify phi2 into phi2 16.574 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.574 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.575 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.575 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.575 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.575 * [backup-simplify]: Simplify lambda2 into lambda2 16.575 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.575 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.575 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.575 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.575 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.575 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in phi1 16.575 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 16.575 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 16.575 * [taylor]: Taking taylor expansion of phi2 in phi1 16.575 * [backup-simplify]: Simplify phi2 into phi2 16.575 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.576 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 16.576 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi1 16.576 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 16.576 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.576 * [taylor]: Taking taylor expansion of phi1 in phi1 16.576 * [backup-simplify]: Simplify 0 into 0 16.576 * [backup-simplify]: Simplify 1 into 1 16.576 * [backup-simplify]: Simplify (* 1 1) into 1 16.576 * [backup-simplify]: Simplify (/ 1 1) into 1 16.576 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi1 16.576 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.576 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.576 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.576 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.576 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.576 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.576 * [backup-simplify]: Simplify 0.5 into 0.5 16.576 * [taylor]: Taking taylor expansion of phi1 in phi1 16.576 * [backup-simplify]: Simplify 0 into 0 16.576 * [backup-simplify]: Simplify 1 into 1 16.577 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.577 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.577 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.577 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.577 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.577 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.577 * [backup-simplify]: Simplify 0.5 into 0.5 16.577 * [taylor]: Taking taylor expansion of phi2 in phi1 16.577 * [backup-simplify]: Simplify phi2 into phi2 16.577 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.577 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.577 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.577 * [backup-simplify]: Simplify (- 0) into 0 16.577 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.577 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.578 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.578 * [backup-simplify]: Simplify lambda2 into lambda2 16.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.578 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.578 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.578 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.578 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 16.578 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.578 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.578 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.578 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.578 * [backup-simplify]: Simplify 0.5 into 0.5 16.578 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.578 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.578 * [taylor]: Taking taylor expansion of phi1 in phi1 16.578 * [backup-simplify]: Simplify 0 into 0 16.578 * [backup-simplify]: Simplify 1 into 1 16.579 * [backup-simplify]: Simplify (/ 1 1) into 1 16.579 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.579 * [taylor]: Taking taylor expansion of phi2 in phi1 16.579 * [backup-simplify]: Simplify phi2 into phi2 16.579 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.579 * [backup-simplify]: Simplify (+ 1 0) into 1 16.579 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.579 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.579 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.579 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.579 * [backup-simplify]: Simplify lambda1 into lambda1 16.580 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.580 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.580 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.580 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1 16.580 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 16.580 * [taylor]: Taking taylor expansion of 2 in phi1 16.580 * [backup-simplify]: Simplify 2 into 2 16.580 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 16.580 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.580 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.580 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.580 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.580 * [backup-simplify]: Simplify 0.5 into 0.5 16.580 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.580 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.580 * [taylor]: Taking taylor expansion of phi1 in phi1 16.580 * [backup-simplify]: Simplify 0 into 0 16.580 * [backup-simplify]: Simplify 1 into 1 16.581 * [backup-simplify]: Simplify (/ 1 1) into 1 16.581 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.581 * [taylor]: Taking taylor expansion of phi2 in phi1 16.581 * [backup-simplify]: Simplify phi2 into phi2 16.581 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.581 * [backup-simplify]: Simplify (+ 1 0) into 1 16.581 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.581 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.581 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.581 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.581 * [backup-simplify]: Simplify lambda2 into lambda2 16.581 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.581 * [backup-simplify]: Simplify lambda1 into lambda1 16.582 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.582 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.582 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.582 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1 16.582 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 16.582 * [taylor]: Taking taylor expansion of 2 in phi1 16.582 * [backup-simplify]: Simplify 2 into 2 16.582 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 16.582 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 16.582 * [taylor]: Taking taylor expansion of phi2 in phi1 16.582 * [backup-simplify]: Simplify phi2 into phi2 16.582 * [taylor]: Taking taylor expansion of phi1 in phi1 16.582 * [backup-simplify]: Simplify 0 into 0 16.582 * [backup-simplify]: Simplify 1 into 1 16.582 * [backup-simplify]: Simplify (* phi2 0) into 0 16.582 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 16.583 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.583 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1 16.583 * [taylor]: Taking taylor expansion of 2 in phi1 16.583 * [backup-simplify]: Simplify 2 into 2 16.583 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1 16.583 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.583 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.583 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.583 * [backup-simplify]: Simplify 0.5 into 0.5 16.583 * [taylor]: Taking taylor expansion of phi1 in phi1 16.583 * [backup-simplify]: Simplify 0 into 0 16.583 * [backup-simplify]: Simplify 1 into 1 16.583 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.583 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.583 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.583 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.583 * [backup-simplify]: Simplify 0.5 into 0.5 16.583 * [taylor]: Taking taylor expansion of phi1 in phi1 16.583 * [backup-simplify]: Simplify 0 into 0 16.583 * [backup-simplify]: Simplify 1 into 1 16.583 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.584 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.584 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.584 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.584 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.584 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.584 * [backup-simplify]: Simplify 0.5 into 0.5 16.584 * [taylor]: Taking taylor expansion of phi2 in phi1 16.584 * [backup-simplify]: Simplify phi2 into phi2 16.584 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.584 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.584 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.584 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.584 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.584 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.584 * [backup-simplify]: Simplify 0.5 into 0.5 16.584 * [taylor]: Taking taylor expansion of phi2 in phi1 16.584 * [backup-simplify]: Simplify phi2 into phi2 16.584 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.584 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.584 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.584 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.584 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.584 * [backup-simplify]: Simplify lambda2 into lambda2 16.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.584 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.584 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.584 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.585 * [backup-simplify]: Simplify (- 0) into 0 16.585 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.585 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.585 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.585 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.586 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 16.586 * [backup-simplify]: Simplify (+ 1 0) into 1 16.586 * [backup-simplify]: Simplify (+ 0 1) into 1 16.586 * [backup-simplify]: Simplify (+ 0 1) into 1 16.587 * [backup-simplify]: Simplify (+ 1 0) into 1 16.587 * [backup-simplify]: Simplify (sqrt 1) into 1 16.587 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.588 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.588 * [backup-simplify]: Simplify (+ 0 0) into 0 16.588 * [backup-simplify]: Simplify (+ 0 0) into 0 16.588 * [backup-simplify]: Simplify (+ 0 0) into 0 16.589 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 16.589 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 16.589 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 16.589 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 16.589 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 16.589 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 16.589 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in phi2 16.589 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi2 16.589 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in phi2 16.589 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.589 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 16.589 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 16.589 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.589 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.589 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.589 * [backup-simplify]: Simplify 0.5 into 0.5 16.589 * [taylor]: Taking taylor expansion of phi1 in phi2 16.590 * [backup-simplify]: Simplify phi1 into phi1 16.590 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.590 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.590 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.590 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.590 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.590 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.590 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 16.590 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.590 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.590 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.590 * [backup-simplify]: Simplify 0.5 into 0.5 16.590 * [taylor]: Taking taylor expansion of phi2 in phi2 16.590 * [backup-simplify]: Simplify 0 into 0 16.590 * [backup-simplify]: Simplify 1 into 1 16.590 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.590 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.590 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.590 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.590 * [backup-simplify]: Simplify lambda2 into lambda2 16.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.591 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.591 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.591 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.591 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.591 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in phi2 16.591 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 16.591 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 16.591 * [taylor]: Taking taylor expansion of phi2 in phi2 16.591 * [backup-simplify]: Simplify 0 into 0 16.591 * [backup-simplify]: Simplify 1 into 1 16.592 * [backup-simplify]: Simplify (* 1 1) into 1 16.592 * [backup-simplify]: Simplify (/ 1 1) into 1 16.592 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi2 16.592 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 16.592 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 16.592 * [taylor]: Taking taylor expansion of phi1 in phi2 16.592 * [backup-simplify]: Simplify phi1 into phi1 16.592 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.592 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.592 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi2 16.592 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.592 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 16.592 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 16.592 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.592 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.592 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.592 * [backup-simplify]: Simplify 0.5 into 0.5 16.592 * [taylor]: Taking taylor expansion of phi1 in phi2 16.592 * [backup-simplify]: Simplify phi1 into phi1 16.592 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.592 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.592 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.592 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.593 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.593 * [backup-simplify]: Simplify (- 0) into 0 16.593 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.593 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 16.593 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.593 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.593 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.593 * [backup-simplify]: Simplify 0.5 into 0.5 16.593 * [taylor]: Taking taylor expansion of phi2 in phi2 16.593 * [backup-simplify]: Simplify 0 into 0 16.593 * [backup-simplify]: Simplify 1 into 1 16.593 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.593 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.593 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.593 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.593 * [backup-simplify]: Simplify lambda2 into lambda2 16.593 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.594 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.594 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.594 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.594 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.594 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 16.594 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.594 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.594 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.594 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.594 * [backup-simplify]: Simplify 0.5 into 0.5 16.594 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.594 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.594 * [taylor]: Taking taylor expansion of phi1 in phi2 16.594 * [backup-simplify]: Simplify phi1 into phi1 16.594 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.594 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.594 * [taylor]: Taking taylor expansion of phi2 in phi2 16.594 * [backup-simplify]: Simplify 0 into 0 16.594 * [backup-simplify]: Simplify 1 into 1 16.595 * [backup-simplify]: Simplify (/ 1 1) into 1 16.595 * [backup-simplify]: Simplify (+ 0 1) into 1 16.595 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.595 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.595 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.595 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.595 * [backup-simplify]: Simplify lambda1 into lambda1 16.596 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.596 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.596 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.596 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2 16.596 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 16.596 * [taylor]: Taking taylor expansion of 2 in phi2 16.596 * [backup-simplify]: Simplify 2 into 2 16.596 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 16.596 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.596 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.596 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.596 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.596 * [backup-simplify]: Simplify 0.5 into 0.5 16.596 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.596 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.596 * [taylor]: Taking taylor expansion of phi1 in phi2 16.596 * [backup-simplify]: Simplify phi1 into phi1 16.596 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.596 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.596 * [taylor]: Taking taylor expansion of phi2 in phi2 16.596 * [backup-simplify]: Simplify 0 into 0 16.596 * [backup-simplify]: Simplify 1 into 1 16.597 * [backup-simplify]: Simplify (/ 1 1) into 1 16.597 * [backup-simplify]: Simplify (+ 0 1) into 1 16.597 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.597 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.597 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 16.597 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.597 * [backup-simplify]: Simplify lambda2 into lambda2 16.597 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.597 * [backup-simplify]: Simplify lambda1 into lambda1 16.598 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.598 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.598 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.598 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2 16.598 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 16.598 * [taylor]: Taking taylor expansion of 2 in phi2 16.598 * [backup-simplify]: Simplify 2 into 2 16.598 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 16.598 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.598 * [taylor]: Taking taylor expansion of phi2 in phi2 16.598 * [backup-simplify]: Simplify 0 into 0 16.598 * [backup-simplify]: Simplify 1 into 1 16.598 * [taylor]: Taking taylor expansion of phi1 in phi2 16.598 * [backup-simplify]: Simplify phi1 into phi1 16.598 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.598 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.598 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.598 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2 16.598 * [taylor]: Taking taylor expansion of 2 in phi2 16.598 * [backup-simplify]: Simplify 2 into 2 16.598 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2 16.599 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 16.599 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.599 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.599 * [backup-simplify]: Simplify 0.5 into 0.5 16.599 * [taylor]: Taking taylor expansion of phi1 in phi2 16.599 * [backup-simplify]: Simplify phi1 into phi1 16.599 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.599 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.599 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.599 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 16.599 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.599 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.599 * [backup-simplify]: Simplify 0.5 into 0.5 16.599 * [taylor]: Taking taylor expansion of phi1 in phi2 16.599 * [backup-simplify]: Simplify phi1 into phi1 16.599 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.599 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.599 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.599 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 16.599 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.599 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.599 * [backup-simplify]: Simplify 0.5 into 0.5 16.599 * [taylor]: Taking taylor expansion of phi2 in phi2 16.599 * [backup-simplify]: Simplify 0 into 0 16.599 * [backup-simplify]: Simplify 1 into 1 16.600 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.600 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.600 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.600 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.600 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.600 * [backup-simplify]: Simplify 0.5 into 0.5 16.600 * [taylor]: Taking taylor expansion of phi2 in phi2 16.600 * [backup-simplify]: Simplify 0 into 0 16.600 * [backup-simplify]: Simplify 1 into 1 16.600 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.600 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.600 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.600 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.600 * [backup-simplify]: Simplify lambda2 into lambda2 16.600 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.600 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.600 * [backup-simplify]: Simplify (- 0) into 0 16.601 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.601 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.601 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.601 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.601 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.601 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.601 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.601 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.601 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 16.602 * [backup-simplify]: Simplify (+ 1 0) into 1 16.602 * [backup-simplify]: Simplify (+ 0 1) into 1 16.602 * [backup-simplify]: Simplify (+ 1 0) into 1 16.603 * [backup-simplify]: Simplify (sqrt 1) into 1 16.603 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.603 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.604 * [backup-simplify]: Simplify (+ 0 0) into 0 16.604 * [backup-simplify]: Simplify (+ 0 0) into 0 16.604 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 16.604 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 16.604 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.604 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 16.604 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 16.605 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 16.605 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in phi2 16.605 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi2 16.605 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in phi2 16.605 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.605 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 16.605 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 16.605 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.605 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.605 * [backup-simplify]: Simplify 0.5 into 0.5 16.605 * [taylor]: Taking taylor expansion of phi1 in phi2 16.605 * [backup-simplify]: Simplify phi1 into phi1 16.605 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.605 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.605 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.605 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.605 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 16.605 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.605 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.605 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.605 * [backup-simplify]: Simplify 0.5 into 0.5 16.605 * [taylor]: Taking taylor expansion of phi2 in phi2 16.605 * [backup-simplify]: Simplify 0 into 0 16.605 * [backup-simplify]: Simplify 1 into 1 16.606 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.606 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.606 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.606 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.606 * [backup-simplify]: Simplify lambda2 into lambda2 16.606 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.606 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.606 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.606 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.607 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.607 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in phi2 16.607 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 16.607 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 16.607 * [taylor]: Taking taylor expansion of phi2 in phi2 16.607 * [backup-simplify]: Simplify 0 into 0 16.607 * [backup-simplify]: Simplify 1 into 1 16.607 * [backup-simplify]: Simplify (* 1 1) into 1 16.607 * [backup-simplify]: Simplify (/ 1 1) into 1 16.607 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi2 16.607 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 16.607 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 16.607 * [taylor]: Taking taylor expansion of phi1 in phi2 16.607 * [backup-simplify]: Simplify phi1 into phi1 16.607 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.607 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.608 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi2 16.608 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 16.608 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 16.608 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 16.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.608 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.608 * [backup-simplify]: Simplify 0.5 into 0.5 16.608 * [taylor]: Taking taylor expansion of phi1 in phi2 16.608 * [backup-simplify]: Simplify phi1 into phi1 16.608 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.608 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.608 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.608 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.608 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.608 * [backup-simplify]: Simplify (- 0) into 0 16.608 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.608 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 16.608 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.608 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.608 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.608 * [backup-simplify]: Simplify 0.5 into 0.5 16.608 * [taylor]: Taking taylor expansion of phi2 in phi2 16.608 * [backup-simplify]: Simplify 0 into 0 16.608 * [backup-simplify]: Simplify 1 into 1 16.609 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.609 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.609 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.609 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.609 * [backup-simplify]: Simplify lambda2 into lambda2 16.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.609 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.609 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.609 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.610 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.610 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 16.610 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.610 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.610 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.610 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.610 * [backup-simplify]: Simplify 0.5 into 0.5 16.610 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.610 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.610 * [taylor]: Taking taylor expansion of phi1 in phi2 16.610 * [backup-simplify]: Simplify phi1 into phi1 16.610 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.610 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.610 * [taylor]: Taking taylor expansion of phi2 in phi2 16.610 * [backup-simplify]: Simplify 0 into 0 16.610 * [backup-simplify]: Simplify 1 into 1 16.610 * [backup-simplify]: Simplify (/ 1 1) into 1 16.610 * [backup-simplify]: Simplify (+ 0 1) into 1 16.611 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.611 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.611 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.611 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.611 * [backup-simplify]: Simplify lambda1 into lambda1 16.611 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.611 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.611 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.611 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2 16.611 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 16.611 * [taylor]: Taking taylor expansion of 2 in phi2 16.611 * [backup-simplify]: Simplify 2 into 2 16.611 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 16.611 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.611 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.611 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.612 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.612 * [backup-simplify]: Simplify 0.5 into 0.5 16.612 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.612 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.612 * [taylor]: Taking taylor expansion of phi1 in phi2 16.612 * [backup-simplify]: Simplify phi1 into phi1 16.612 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.612 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.612 * [taylor]: Taking taylor expansion of phi2 in phi2 16.612 * [backup-simplify]: Simplify 0 into 0 16.612 * [backup-simplify]: Simplify 1 into 1 16.612 * [backup-simplify]: Simplify (/ 1 1) into 1 16.612 * [backup-simplify]: Simplify (+ 0 1) into 1 16.612 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.613 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.613 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 16.613 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.613 * [backup-simplify]: Simplify lambda2 into lambda2 16.613 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.613 * [backup-simplify]: Simplify lambda1 into lambda1 16.613 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.613 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.613 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.613 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2 16.613 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 16.613 * [taylor]: Taking taylor expansion of 2 in phi2 16.613 * [backup-simplify]: Simplify 2 into 2 16.613 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 16.613 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.613 * [taylor]: Taking taylor expansion of phi2 in phi2 16.613 * [backup-simplify]: Simplify 0 into 0 16.613 * [backup-simplify]: Simplify 1 into 1 16.613 * [taylor]: Taking taylor expansion of phi1 in phi2 16.613 * [backup-simplify]: Simplify phi1 into phi1 16.613 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.614 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.614 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.614 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2 16.614 * [taylor]: Taking taylor expansion of 2 in phi2 16.614 * [backup-simplify]: Simplify 2 into 2 16.614 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2 16.614 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 16.614 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 16.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.614 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.614 * [backup-simplify]: Simplify 0.5 into 0.5 16.614 * [taylor]: Taking taylor expansion of phi1 in phi2 16.614 * [backup-simplify]: Simplify phi1 into phi1 16.614 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.614 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 16.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 16.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 16.614 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.614 * [backup-simplify]: Simplify 0.5 into 0.5 16.614 * [taylor]: Taking taylor expansion of phi1 in phi2 16.614 * [backup-simplify]: Simplify phi1 into phi1 16.614 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.614 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 16.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 16.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.614 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.614 * [backup-simplify]: Simplify 0.5 into 0.5 16.614 * [taylor]: Taking taylor expansion of phi2 in phi2 16.614 * [backup-simplify]: Simplify 0 into 0 16.614 * [backup-simplify]: Simplify 1 into 1 16.615 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.615 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 16.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 16.615 * [taylor]: Taking taylor expansion of 0.5 in phi2 16.615 * [backup-simplify]: Simplify 0.5 into 0.5 16.615 * [taylor]: Taking taylor expansion of phi2 in phi2 16.615 * [backup-simplify]: Simplify 0 into 0 16.615 * [backup-simplify]: Simplify 1 into 1 16.615 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.615 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.615 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.615 * [backup-simplify]: Simplify lambda2 into lambda2 16.615 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.615 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.616 * [backup-simplify]: Simplify (- 0) into 0 16.616 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.616 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.616 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.616 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.616 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.617 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 16.617 * [backup-simplify]: Simplify (+ 1 0) into 1 16.617 * [backup-simplify]: Simplify (+ 0 1) into 1 16.618 * [backup-simplify]: Simplify (+ 1 0) into 1 16.618 * [backup-simplify]: Simplify (sqrt 1) into 1 16.618 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.619 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.619 * [backup-simplify]: Simplify (+ 0 0) into 0 16.619 * [backup-simplify]: Simplify (+ 0 0) into 0 16.619 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 16.619 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 16.619 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.619 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 16.620 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 16.620 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 16.620 * [taylor]: Taking taylor expansion of 1 in phi1 16.620 * [backup-simplify]: Simplify 1 into 1 16.620 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 16.620 * [taylor]: Taking taylor expansion of -1 in phi1 16.620 * [backup-simplify]: Simplify -1 into -1 16.620 * [taylor]: Taking taylor expansion of phi1 in phi1 16.620 * [backup-simplify]: Simplify 0 into 0 16.620 * [backup-simplify]: Simplify 1 into 1 16.620 * [backup-simplify]: Simplify (/ -1 1) into -1 16.620 * [taylor]: Taking taylor expansion of -1 in lambda2 16.621 * [backup-simplify]: Simplify -1 into -1 16.621 * [taylor]: Taking taylor expansion of 1 in lambda2 16.621 * [backup-simplify]: Simplify 1 into 1 16.621 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 16.622 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.622 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) 16.623 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 16.624 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 16.625 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) 16.625 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 16.626 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 16.626 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 16.626 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 16.626 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 16.627 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 16.627 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) 16.628 * [backup-simplify]: Simplify (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 16.630 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 16.633 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) 16.633 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi1 16.634 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.634 * [backup-simplify]: Simplify 1/2 into 1/2 16.634 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1 16.634 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi1 16.634 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.634 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.634 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.634 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.634 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.634 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.634 * [backup-simplify]: Simplify 0.5 into 0.5 16.634 * [taylor]: Taking taylor expansion of phi1 in phi1 16.634 * [backup-simplify]: Simplify 0 into 0 16.634 * [backup-simplify]: Simplify 1 into 1 16.634 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.634 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.634 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.634 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.634 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.634 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.634 * [backup-simplify]: Simplify 0.5 into 0.5 16.634 * [taylor]: Taking taylor expansion of phi2 in phi1 16.634 * [backup-simplify]: Simplify phi2 into phi2 16.634 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.634 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.634 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.634 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.635 * [backup-simplify]: Simplify (- 0) into 0 16.635 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.635 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.635 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.635 * [backup-simplify]: Simplify lambda2 into lambda2 16.635 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.635 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.635 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.635 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.636 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.636 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi1 16.636 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 16.636 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.636 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.636 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.636 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.636 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.636 * [backup-simplify]: Simplify 0.5 into 0.5 16.636 * [taylor]: Taking taylor expansion of phi1 in phi1 16.636 * [backup-simplify]: Simplify 0 into 0 16.636 * [backup-simplify]: Simplify 1 into 1 16.636 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.636 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.636 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.636 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.636 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.636 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.636 * [backup-simplify]: Simplify 0.5 into 0.5 16.636 * [taylor]: Taking taylor expansion of phi2 in phi1 16.636 * [backup-simplify]: Simplify phi2 into phi2 16.636 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.636 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.637 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.637 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.637 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.637 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.637 * [backup-simplify]: Simplify lambda2 into lambda2 16.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.637 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.637 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.637 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.638 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 16.638 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.638 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.638 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.638 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.638 * [backup-simplify]: Simplify 0.5 into 0.5 16.638 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.638 * [taylor]: Taking taylor expansion of phi1 in phi1 16.638 * [backup-simplify]: Simplify 0 into 0 16.638 * [backup-simplify]: Simplify 1 into 1 16.638 * [backup-simplify]: Simplify (/ 1 1) into 1 16.638 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.638 * [taylor]: Taking taylor expansion of phi2 in phi1 16.638 * [backup-simplify]: Simplify phi2 into phi2 16.638 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.638 * [backup-simplify]: Simplify (+ 1 0) into 1 16.639 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.639 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.639 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.639 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.639 * [backup-simplify]: Simplify lambda1 into lambda1 16.639 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.639 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.639 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.639 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1 16.639 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 16.639 * [taylor]: Taking taylor expansion of 2 in phi1 16.639 * [backup-simplify]: Simplify 2 into 2 16.640 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 16.640 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.640 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.640 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.640 * [backup-simplify]: Simplify 0.5 into 0.5 16.640 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.640 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.640 * [taylor]: Taking taylor expansion of phi1 in phi1 16.640 * [backup-simplify]: Simplify 0 into 0 16.640 * [backup-simplify]: Simplify 1 into 1 16.640 * [backup-simplify]: Simplify (/ 1 1) into 1 16.640 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.640 * [taylor]: Taking taylor expansion of phi2 in phi1 16.640 * [backup-simplify]: Simplify phi2 into phi2 16.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.640 * [backup-simplify]: Simplify (+ 1 0) into 1 16.641 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.641 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.641 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.641 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.641 * [backup-simplify]: Simplify lambda2 into lambda2 16.641 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.641 * [backup-simplify]: Simplify lambda1 into lambda1 16.641 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.641 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.641 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.641 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1 16.641 * [taylor]: Taking taylor expansion of 2 in phi1 16.641 * [backup-simplify]: Simplify 2 into 2 16.641 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1 16.641 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.641 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.641 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.641 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.641 * [backup-simplify]: Simplify 0.5 into 0.5 16.641 * [taylor]: Taking taylor expansion of phi1 in phi1 16.642 * [backup-simplify]: Simplify 0 into 0 16.642 * [backup-simplify]: Simplify 1 into 1 16.642 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.642 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.642 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.642 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.642 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.642 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.642 * [backup-simplify]: Simplify 0.5 into 0.5 16.642 * [taylor]: Taking taylor expansion of phi1 in phi1 16.642 * [backup-simplify]: Simplify 0 into 0 16.642 * [backup-simplify]: Simplify 1 into 1 16.642 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.642 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.642 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.642 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.642 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.642 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.642 * [backup-simplify]: Simplify 0.5 into 0.5 16.643 * [taylor]: Taking taylor expansion of phi2 in phi1 16.643 * [backup-simplify]: Simplify phi2 into phi2 16.643 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.643 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.643 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.643 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.643 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.643 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.643 * [backup-simplify]: Simplify 0.5 into 0.5 16.643 * [taylor]: Taking taylor expansion of phi2 in phi1 16.643 * [backup-simplify]: Simplify phi2 into phi2 16.643 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.643 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.643 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.643 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.643 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.643 * [backup-simplify]: Simplify lambda2 into lambda2 16.643 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.643 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.643 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.643 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.643 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.644 * [backup-simplify]: Simplify (- 0) into 0 16.644 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.644 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.644 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.644 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.644 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.644 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 16.645 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 16.645 * [taylor]: Taking taylor expansion of 0 in lambda2 16.645 * [backup-simplify]: Simplify 0 into 0 16.645 * [taylor]: Taking taylor expansion of 0 in lambda2 16.645 * [backup-simplify]: Simplify 0 into 0 16.645 * [taylor]: Taking taylor expansion of -1 in lambda1 16.645 * [backup-simplify]: Simplify -1 into -1 16.645 * [taylor]: Taking taylor expansion of 1 in lambda1 16.645 * [backup-simplify]: Simplify 1 into 1 16.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.645 * [backup-simplify]: Simplify (+ 0) into 0 16.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.647 * [backup-simplify]: Simplify (+ 0 0) into 0 16.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.647 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.647 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.648 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.648 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.649 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.649 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 16.649 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 16.649 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.650 * [backup-simplify]: Simplify (+ 0) into 0 16.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.650 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.651 * [backup-simplify]: Simplify (- 0) into 0 16.651 * [backup-simplify]: Simplify (+ 0 0) into 0 16.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.652 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.652 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.652 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.652 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 16.652 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.653 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 16.653 * [backup-simplify]: Simplify (+ 0 0) into 0 16.653 * [backup-simplify]: Simplify (+ 0 0) into 0 16.654 * [backup-simplify]: Simplify (+ 0 0) into 0 16.654 * [backup-simplify]: Simplify (+ 0 0) into 0 16.654 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 16.654 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.655 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 16.655 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 16.656 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 16.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 16.656 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 16.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.657 * [backup-simplify]: Simplify (+ 0) into 0 16.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.657 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.658 * [backup-simplify]: Simplify (+ 0 0) into 0 16.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.659 * [backup-simplify]: Simplify (+ 0) into 0 16.659 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.659 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.660 * [backup-simplify]: Simplify (- 0) into 0 16.660 * [backup-simplify]: Simplify (+ 0 0) into 0 16.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.661 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.661 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.662 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into 0 16.662 * [backup-simplify]: Simplify (+ 0 0) into 0 16.662 * [backup-simplify]: Simplify (+ 0 0) into 0 16.662 * [backup-simplify]: Simplify (- 0) into 0 16.663 * [backup-simplify]: Simplify (+ 0 0) into 0 16.670 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))))))) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))))))) 16.670 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))))))) in phi1 16.670 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.671 * [backup-simplify]: Simplify 1/2 into 1/2 16.671 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))))) in phi1 16.671 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)))) in phi1 16.671 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 16.671 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.671 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.671 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.671 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.671 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.671 * [backup-simplify]: Simplify 0.5 into 0.5 16.671 * [taylor]: Taking taylor expansion of phi1 in phi1 16.671 * [backup-simplify]: Simplify 0 into 0 16.671 * [backup-simplify]: Simplify 1 into 1 16.671 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.671 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.671 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.671 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.671 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.671 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.672 * [backup-simplify]: Simplify 0.5 into 0.5 16.672 * [taylor]: Taking taylor expansion of phi2 in phi1 16.672 * [backup-simplify]: Simplify phi2 into phi2 16.672 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.672 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.672 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.672 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.672 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.672 * [backup-simplify]: Simplify (- 0) into 0 16.672 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.672 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 16.672 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.672 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.672 * [backup-simplify]: Simplify lambda2 into lambda2 16.672 * [taylor]: Taking taylor expansion of phi1 in phi1 16.672 * [backup-simplify]: Simplify 0 into 0 16.672 * [backup-simplify]: Simplify 1 into 1 16.672 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.672 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.673 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.673 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.673 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 16.673 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.673 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 16.674 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.674 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1))) in phi1 16.674 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi1 (pow lambda1 2))) in phi1 16.674 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.674 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.674 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.674 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.674 * [backup-simplify]: Simplify 0.5 into 0.5 16.674 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.674 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.674 * [taylor]: Taking taylor expansion of phi1 in phi1 16.674 * [backup-simplify]: Simplify 0 into 0 16.674 * [backup-simplify]: Simplify 1 into 1 16.674 * [backup-simplify]: Simplify (/ 1 1) into 1 16.674 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.674 * [taylor]: Taking taylor expansion of phi2 in phi1 16.674 * [backup-simplify]: Simplify phi2 into phi2 16.674 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.674 * [backup-simplify]: Simplify (+ 1 0) into 1 16.675 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.675 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.675 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda1 2)) in phi1 16.675 * [taylor]: Taking taylor expansion of phi1 in phi1 16.675 * [backup-simplify]: Simplify 0 into 0 16.675 * [backup-simplify]: Simplify 1 into 1 16.675 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.675 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.675 * [backup-simplify]: Simplify lambda1 into lambda1 16.675 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.675 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.675 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 16.675 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.676 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda1 2))) into (pow lambda1 2) 16.676 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.676 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) phi1)) in phi1 16.676 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.676 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.676 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.676 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.676 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.676 * [backup-simplify]: Simplify 0.5 into 0.5 16.676 * [taylor]: Taking taylor expansion of phi1 in phi1 16.676 * [backup-simplify]: Simplify 0 into 0 16.676 * [backup-simplify]: Simplify 1 into 1 16.676 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.677 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.677 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.677 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.677 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.677 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.677 * [backup-simplify]: Simplify 0.5 into 0.5 16.677 * [taylor]: Taking taylor expansion of phi2 in phi1 16.677 * [backup-simplify]: Simplify phi2 into phi2 16.677 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.677 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.677 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.677 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.677 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.677 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 16.677 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.677 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.677 * [backup-simplify]: Simplify lambda2 into lambda2 16.677 * [taylor]: Taking taylor expansion of phi1 in phi1 16.677 * [backup-simplify]: Simplify 0 into 0 16.677 * [backup-simplify]: Simplify 1 into 1 16.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.677 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.678 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.678 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 16.678 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.678 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 16.678 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 16.678 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))))) in phi1 16.678 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1))) in phi1 16.678 * [taylor]: Taking taylor expansion of 2 in phi1 16.679 * [backup-simplify]: Simplify 2 into 2 16.679 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) phi1)) in phi1 16.679 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.679 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.679 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.679 * [backup-simplify]: Simplify 0.5 into 0.5 16.679 * [taylor]: Taking taylor expansion of phi1 in phi1 16.679 * [backup-simplify]: Simplify 0 into 0 16.679 * [backup-simplify]: Simplify 1 into 1 16.679 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.679 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.679 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.679 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.679 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.679 * [backup-simplify]: Simplify 0.5 into 0.5 16.679 * [taylor]: Taking taylor expansion of phi1 in phi1 16.679 * [backup-simplify]: Simplify 0 into 0 16.679 * [backup-simplify]: Simplify 1 into 1 16.679 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.680 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.680 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.680 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.680 * [backup-simplify]: Simplify 0.5 into 0.5 16.680 * [taylor]: Taking taylor expansion of phi2 in phi1 16.680 * [backup-simplify]: Simplify phi2 into phi2 16.680 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.680 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.680 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.680 * [backup-simplify]: Simplify 0.5 into 0.5 16.680 * [taylor]: Taking taylor expansion of phi2 in phi1 16.680 * [backup-simplify]: Simplify phi2 into phi2 16.680 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.680 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) phi1) in phi1 16.680 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.680 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.680 * [backup-simplify]: Simplify lambda2 into lambda2 16.680 * [taylor]: Taking taylor expansion of phi1 in phi1 16.680 * [backup-simplify]: Simplify 0 into 0 16.680 * [backup-simplify]: Simplify 1 into 1 16.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.680 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.681 * [backup-simplify]: Simplify (- 0) into 0 16.681 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.681 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.681 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.681 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.681 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.681 * [backup-simplify]: Simplify (* (pow lambda2 2) 0) into 0 16.681 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.682 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 1) (* 0 0)) into (pow lambda2 2) 16.682 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 16.682 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1)))) in phi1 16.682 * [taylor]: Taking taylor expansion of 2 in phi1 16.682 * [backup-simplify]: Simplify 2 into 2 16.682 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* phi1 lambda1))) in phi1 16.682 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.682 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.682 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.682 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.682 * [backup-simplify]: Simplify 0.5 into 0.5 16.682 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.682 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.682 * [taylor]: Taking taylor expansion of phi1 in phi1 16.682 * [backup-simplify]: Simplify 0 into 0 16.682 * [backup-simplify]: Simplify 1 into 1 16.683 * [backup-simplify]: Simplify (/ 1 1) into 1 16.683 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.683 * [taylor]: Taking taylor expansion of phi2 in phi1 16.683 * [backup-simplify]: Simplify phi2 into phi2 16.683 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.683 * [backup-simplify]: Simplify (+ 1 0) into 1 16.683 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 16.683 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.683 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 lambda1)) in phi1 16.683 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.684 * [backup-simplify]: Simplify lambda2 into lambda2 16.684 * [taylor]: Taking taylor expansion of (* phi1 lambda1) in phi1 16.684 * [taylor]: Taking taylor expansion of phi1 in phi1 16.684 * [backup-simplify]: Simplify 0 into 0 16.684 * [backup-simplify]: Simplify 1 into 1 16.684 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.684 * [backup-simplify]: Simplify lambda1 into lambda1 16.684 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.684 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.684 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.684 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.684 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 16.685 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.685 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 16.686 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 16.686 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 16.687 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 16.687 * [backup-simplify]: Simplify (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) 16.688 * [backup-simplify]: Simplify (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 16.690 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 16.692 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) into (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) 16.692 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda2 16.692 * [taylor]: Taking taylor expansion of 1/2 in lambda2 16.692 * [backup-simplify]: Simplify 1/2 into 1/2 16.692 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 16.692 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 16.692 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 16.692 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.692 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.692 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.692 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.692 * [backup-simplify]: Simplify 0.5 into 0.5 16.692 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.692 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.692 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.692 * [backup-simplify]: Simplify phi1 into phi1 16.692 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.692 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.692 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.692 * [backup-simplify]: Simplify phi2 into phi2 16.692 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.693 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.693 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.693 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.693 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.693 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.693 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.694 * [backup-simplify]: Simplify (- 0) into 0 16.694 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.694 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.694 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.694 * [backup-simplify]: Simplify lambda1 into lambda1 16.694 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.694 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.694 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.694 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 16.694 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.694 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.694 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.694 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.694 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.694 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.694 * [backup-simplify]: Simplify 0.5 into 0.5 16.694 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.694 * [backup-simplify]: Simplify phi1 into phi1 16.694 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.695 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.695 * [backup-simplify]: Simplify (- 0) into 0 16.695 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.695 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.695 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.695 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.695 * [backup-simplify]: Simplify 0.5 into 0.5 16.695 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.695 * [backup-simplify]: Simplify phi2 into phi2 16.695 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.696 * [backup-simplify]: Simplify (- 0) into 0 16.696 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.696 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.696 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.696 * [backup-simplify]: Simplify 0 into 0 16.696 * [backup-simplify]: Simplify 1 into 1 16.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.696 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.697 * [backup-simplify]: Simplify (* 1 1) into 1 16.697 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.697 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.697 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.697 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.697 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.697 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.697 * [backup-simplify]: Simplify 0.5 into 0.5 16.697 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.697 * [backup-simplify]: Simplify phi1 into phi1 16.697 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.697 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.697 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.697 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.697 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.697 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.697 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.697 * [backup-simplify]: Simplify 0.5 into 0.5 16.697 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.698 * [backup-simplify]: Simplify phi2 into phi2 16.698 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.698 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.698 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.698 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.698 * [backup-simplify]: Simplify 0 into 0 16.698 * [backup-simplify]: Simplify 1 into 1 16.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.698 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.699 * [backup-simplify]: Simplify (* 1 1) into 1 16.699 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.699 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 16.699 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 16.699 * [taylor]: Taking taylor expansion of 2 in lambda2 16.699 * [backup-simplify]: Simplify 2 into 2 16.699 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 16.699 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.699 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.699 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.699 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.699 * [backup-simplify]: Simplify 0.5 into 0.5 16.699 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.699 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.699 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.700 * [backup-simplify]: Simplify phi1 into phi1 16.700 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.700 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.700 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.700 * [backup-simplify]: Simplify phi2 into phi2 16.700 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.700 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.700 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.700 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.700 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.700 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.700 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.701 * [backup-simplify]: Simplify (- 0) into 0 16.701 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.701 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.701 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.701 * [backup-simplify]: Simplify 0 into 0 16.701 * [backup-simplify]: Simplify 1 into 1 16.701 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.701 * [backup-simplify]: Simplify lambda1 into lambda1 16.701 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.701 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.702 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.702 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 16.702 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 16.702 * [taylor]: Taking taylor expansion of 2 in lambda2 16.702 * [backup-simplify]: Simplify 2 into 2 16.702 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 16.702 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.702 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.702 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.702 * [backup-simplify]: Simplify 0.5 into 0.5 16.702 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.702 * [backup-simplify]: Simplify phi1 into phi1 16.702 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.702 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.702 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.702 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.702 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.702 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.702 * [backup-simplify]: Simplify 0.5 into 0.5 16.702 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.702 * [backup-simplify]: Simplify phi1 into phi1 16.702 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.703 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.703 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.703 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.703 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.703 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.703 * [backup-simplify]: Simplify 0.5 into 0.5 16.703 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.703 * [backup-simplify]: Simplify phi2 into phi2 16.703 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.703 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.703 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.703 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.703 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.703 * [backup-simplify]: Simplify 0.5 into 0.5 16.703 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.703 * [backup-simplify]: Simplify phi2 into phi2 16.703 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.703 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.703 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.703 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.703 * [backup-simplify]: Simplify 0 into 0 16.703 * [backup-simplify]: Simplify 1 into 1 16.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.704 * [backup-simplify]: Simplify (- 0) into 0 16.704 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.704 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.705 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.705 * [backup-simplify]: Simplify (- 0) into 0 16.705 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.706 * [backup-simplify]: Simplify (* 1 1) into 1 16.706 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.707 * [backup-simplify]: Simplify (+ 0) into 0 16.707 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.707 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.708 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.709 * [backup-simplify]: Simplify (- 0) into 0 16.709 * [backup-simplify]: Simplify (+ 0 0) into 0 16.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.709 * [backup-simplify]: Simplify (+ 0) into 0 16.710 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.711 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.711 * [backup-simplify]: Simplify (- 0) into 0 16.711 * [backup-simplify]: Simplify (+ 0 0) into 0 16.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.712 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.712 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.713 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 16.714 * [backup-simplify]: Simplify (+ 0) into 0 16.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.715 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.715 * [backup-simplify]: Simplify (+ 0 0) into 0 16.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.716 * [backup-simplify]: Simplify (+ 0) into 0 16.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.717 * [backup-simplify]: Simplify (+ 0 0) into 0 16.718 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.718 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.718 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.719 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 16.719 * [backup-simplify]: Simplify (+ 0 0) into 0 16.720 * [backup-simplify]: Simplify (+ 0 0) into 0 16.720 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.720 * [backup-simplify]: Simplify (+ 0) into 0 16.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.722 * [backup-simplify]: Simplify (- 0) into 0 16.722 * [backup-simplify]: Simplify (+ 0 0) into 0 16.722 * [backup-simplify]: Simplify (+ 0) into 0 16.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.724 * [backup-simplify]: Simplify (+ 0 0) into 0 16.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.724 * [backup-simplify]: Simplify (+ 0) into 0 16.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.724 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.725 * [backup-simplify]: Simplify (+ 0 0) into 0 16.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.726 * [backup-simplify]: Simplify (+ 0) into 0 16.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.726 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.727 * [backup-simplify]: Simplify (- 0) into 0 16.727 * [backup-simplify]: Simplify (+ 0 0) into 0 16.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.728 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.729 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0 16.730 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.730 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.730 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.730 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.731 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.731 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.732 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.732 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.732 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.733 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.734 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.734 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 16.734 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 16.734 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.734 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.734 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.734 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.734 * [backup-simplify]: Simplify 0.5 into 0.5 16.734 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.734 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.734 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.734 * [backup-simplify]: Simplify phi1 into phi1 16.734 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.734 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.734 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.734 * [backup-simplify]: Simplify phi2 into phi2 16.734 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.734 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.734 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.734 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.735 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.735 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.735 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.735 * [backup-simplify]: Simplify (- 0) into 0 16.735 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.735 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.735 * [backup-simplify]: Simplify 0 into 0 16.735 * [backup-simplify]: Simplify 1 into 1 16.736 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.736 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.736 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.736 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.737 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 16.738 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 16.738 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 16.738 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 16.739 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) 16.740 * [backup-simplify]: Simplify (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 16.742 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 16.743 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) into (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) 16.743 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda2 16.743 * [taylor]: Taking taylor expansion of 1/2 in lambda2 16.743 * [backup-simplify]: Simplify 1/2 into 1/2 16.744 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 16.744 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 16.744 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 16.744 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.744 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.744 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.744 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.744 * [backup-simplify]: Simplify 0.5 into 0.5 16.744 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.744 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.744 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.744 * [backup-simplify]: Simplify phi1 into phi1 16.744 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.744 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.744 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.744 * [backup-simplify]: Simplify phi2 into phi2 16.744 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.744 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.744 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.744 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.744 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.744 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.744 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.745 * [backup-simplify]: Simplify (- 0) into 0 16.745 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.745 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.745 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.745 * [backup-simplify]: Simplify lambda1 into lambda1 16.745 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.745 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.745 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.746 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 16.746 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.746 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.746 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.746 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.746 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.746 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.746 * [backup-simplify]: Simplify 0.5 into 0.5 16.746 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.746 * [backup-simplify]: Simplify phi1 into phi1 16.746 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.746 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.746 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.746 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.746 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.746 * [backup-simplify]: Simplify (- 0) into 0 16.746 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.746 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.746 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.746 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.746 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.746 * [backup-simplify]: Simplify 0.5 into 0.5 16.746 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.746 * [backup-simplify]: Simplify phi2 into phi2 16.747 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.747 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.747 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.747 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.747 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.747 * [backup-simplify]: Simplify (- 0) into 0 16.747 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.747 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.747 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.747 * [backup-simplify]: Simplify 0 into 0 16.747 * [backup-simplify]: Simplify 1 into 1 16.747 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.747 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.748 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.748 * [backup-simplify]: Simplify (* 1 1) into 1 16.748 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.748 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 16.748 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.748 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.748 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.748 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.748 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.748 * [backup-simplify]: Simplify 0.5 into 0.5 16.748 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.748 * [backup-simplify]: Simplify phi1 into phi1 16.748 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.748 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.748 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.748 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.748 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.749 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.749 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.749 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.749 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.749 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.749 * [backup-simplify]: Simplify 0.5 into 0.5 16.749 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.749 * [backup-simplify]: Simplify phi2 into phi2 16.749 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.749 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.749 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.749 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.749 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.749 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.749 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.749 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.749 * [backup-simplify]: Simplify 0 into 0 16.749 * [backup-simplify]: Simplify 1 into 1 16.749 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.749 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.749 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.750 * [backup-simplify]: Simplify (* 1 1) into 1 16.750 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.750 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 16.750 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 16.750 * [taylor]: Taking taylor expansion of 2 in lambda2 16.750 * [backup-simplify]: Simplify 2 into 2 16.750 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 16.750 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.750 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.750 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.750 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.750 * [backup-simplify]: Simplify 0.5 into 0.5 16.750 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.750 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.750 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.750 * [backup-simplify]: Simplify phi1 into phi1 16.750 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.750 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.750 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.750 * [backup-simplify]: Simplify phi2 into phi2 16.750 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.750 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.751 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.751 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.751 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.751 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.751 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.751 * [backup-simplify]: Simplify (- 0) into 0 16.751 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.751 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.751 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.751 * [backup-simplify]: Simplify 0 into 0 16.751 * [backup-simplify]: Simplify 1 into 1 16.751 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.752 * [backup-simplify]: Simplify lambda1 into lambda1 16.752 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.752 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.752 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.752 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 16.752 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 16.752 * [taylor]: Taking taylor expansion of 2 in lambda2 16.752 * [backup-simplify]: Simplify 2 into 2 16.752 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 16.752 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.752 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.752 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.752 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.752 * [backup-simplify]: Simplify 0.5 into 0.5 16.752 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.752 * [backup-simplify]: Simplify phi1 into phi1 16.752 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.753 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.753 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.753 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.753 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.753 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.753 * [backup-simplify]: Simplify 0.5 into 0.5 16.753 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.753 * [backup-simplify]: Simplify phi1 into phi1 16.753 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.753 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.753 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.753 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.753 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.753 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.753 * [backup-simplify]: Simplify 0.5 into 0.5 16.753 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.753 * [backup-simplify]: Simplify phi2 into phi2 16.753 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.753 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.753 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.753 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.753 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.753 * [backup-simplify]: Simplify 0.5 into 0.5 16.753 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.753 * [backup-simplify]: Simplify phi2 into phi2 16.753 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.753 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.753 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.753 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.753 * [backup-simplify]: Simplify 0 into 0 16.753 * [backup-simplify]: Simplify 1 into 1 16.753 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.754 * [backup-simplify]: Simplify (- 0) into 0 16.754 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.754 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.754 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.755 * [backup-simplify]: Simplify (- 0) into 0 16.755 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.755 * [backup-simplify]: Simplify (* 1 1) into 1 16.756 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.756 * [backup-simplify]: Simplify (+ 0) into 0 16.756 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.756 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.758 * [backup-simplify]: Simplify (- 0) into 0 16.758 * [backup-simplify]: Simplify (+ 0 0) into 0 16.758 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.758 * [backup-simplify]: Simplify (+ 0) into 0 16.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.760 * [backup-simplify]: Simplify (- 0) into 0 16.760 * [backup-simplify]: Simplify (+ 0 0) into 0 16.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.760 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.761 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.761 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 16.762 * [backup-simplify]: Simplify (+ 0) into 0 16.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.762 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.763 * [backup-simplify]: Simplify (+ 0 0) into 0 16.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.764 * [backup-simplify]: Simplify (+ 0) into 0 16.764 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.764 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.765 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.765 * [backup-simplify]: Simplify (+ 0 0) into 0 16.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.765 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.766 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.767 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 16.767 * [backup-simplify]: Simplify (+ 0 0) into 0 16.767 * [backup-simplify]: Simplify (+ 0 0) into 0 16.767 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.768 * [backup-simplify]: Simplify (+ 0) into 0 16.768 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.769 * [backup-simplify]: Simplify (- 0) into 0 16.769 * [backup-simplify]: Simplify (+ 0 0) into 0 16.770 * [backup-simplify]: Simplify (+ 0) into 0 16.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.771 * [backup-simplify]: Simplify (+ 0 0) into 0 16.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.771 * [backup-simplify]: Simplify (+ 0) into 0 16.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.773 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.773 * [backup-simplify]: Simplify (+ 0 0) into 0 16.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.773 * [backup-simplify]: Simplify (+ 0) into 0 16.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.774 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.775 * [backup-simplify]: Simplify (- 0) into 0 16.775 * [backup-simplify]: Simplify (+ 0 0) into 0 16.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.776 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.776 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0 16.777 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.777 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.777 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.778 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.778 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.779 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.779 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.779 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.780 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.780 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.782 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.782 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 16.782 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 16.782 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.782 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.782 * [taylor]: Taking taylor expansion of 0.5 in lambda1 16.782 * [backup-simplify]: Simplify 0.5 into 0.5 16.782 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.782 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.782 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.782 * [backup-simplify]: Simplify phi1 into phi1 16.782 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.782 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.782 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.782 * [backup-simplify]: Simplify phi2 into phi2 16.782 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.782 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.782 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.782 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.782 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.782 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.782 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.787 * [backup-simplify]: Simplify (- 0) into 0 16.788 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.788 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.788 * [backup-simplify]: Simplify 0 into 0 16.788 * [backup-simplify]: Simplify 1 into 1 16.788 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.788 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.788 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.789 * [backup-simplify]: Simplify (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 16.790 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.790 * [taylor]: Taking taylor expansion of 0 in lambda2 16.790 * [backup-simplify]: Simplify 0 into 0 16.790 * [taylor]: Taking taylor expansion of 0 in lambda2 16.790 * [backup-simplify]: Simplify 0 into 0 16.790 * [taylor]: Taking taylor expansion of 0 in lambda1 16.790 * [backup-simplify]: Simplify 0 into 0 16.790 * [taylor]: Taking taylor expansion of 0 in lambda1 16.790 * [backup-simplify]: Simplify 0 into 0 16.790 * [taylor]: Taking taylor expansion of 0 in lambda1 16.790 * [backup-simplify]: Simplify 0 into 0 16.790 * [taylor]: Taking taylor expansion of 0 in lambda1 16.790 * [backup-simplify]: Simplify 0 into 0 16.790 * [backup-simplify]: Simplify -1 into -1 16.791 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 phi1)) 1)))) (+ (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 lambda2)) (* 1 (/ 1 phi2))))) (* (- (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2)) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 lambda2)) (* (/ 1 (/ 1 phi1)) (pow (/ 1 phi2) 2))))))) into (- (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1))) 16.795 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (cos (* 0.5 (/ 1 (- phi2)))) 2) (* (pow (cos (* 0.5 (/ 1 (- phi1)))) 2) (pow (/ 1 (- lambda2)) 2))) (+ (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2)) (* (pow (sin (* 0.5 (/ 1 (- phi2)))) 2) (* (pow (/ 1 (- lambda2)) 2) (pow (sin (* 0.5 (/ 1 (- phi1)))) 2))))) (+ (* (cos (* 0.5 (/ 1 (- phi2)))) (* (sin (* 0.5 (/ 1 (- phi1)))) (* (cos (* 0.5 (/ 1 (- phi1)))) (* (sin (* 0.5 (/ 1 (- phi2)))) (pow (/ 1 (- lambda2)) 2))))) (+ (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1))))) (* (cos (* 0.5 (/ 1 (- phi1)))) (* (sin (* 0.5 (/ 1 (- phi2)))) (* (cos (* 0.5 (/ 1 (- phi2)))) (* (sin (* 0.5 (/ 1 (- phi1)))) (pow (/ 1 (- lambda2)) 2)))))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) 16.795 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in (phi2 phi1 lambda2 lambda1) around 0 16.795 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda1 16.795 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda1 16.795 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda1 16.795 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 16.795 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 16.795 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.795 * [backup-simplify]: Simplify phi2 into phi2 16.795 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.795 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 16.795 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1 16.795 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 16.795 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.795 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.795 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.795 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.795 * [backup-simplify]: Simplify -0.5 into -0.5 16.795 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.796 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.796 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.796 * [backup-simplify]: Simplify phi1 into phi1 16.796 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.796 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.796 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.796 * [backup-simplify]: Simplify phi2 into phi2 16.796 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.796 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.796 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.796 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.796 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.796 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.796 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.797 * [backup-simplify]: Simplify (- 0) into 0 16.797 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.797 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 16.797 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.797 * [backup-simplify]: Simplify 0 into 0 16.797 * [backup-simplify]: Simplify 1 into 1 16.797 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.797 * [backup-simplify]: Simplify (* 1 1) into 1 16.798 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.798 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 16.798 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 16.798 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 16.798 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.798 * [backup-simplify]: Simplify phi1 into phi1 16.798 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.798 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.798 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 16.798 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 16.798 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 16.798 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 16.798 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.798 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.798 * [backup-simplify]: Simplify -0.5 into -0.5 16.798 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.798 * [backup-simplify]: Simplify phi2 into phi2 16.798 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.798 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.798 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.799 * [backup-simplify]: Simplify (- 0) into 0 16.799 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.799 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 16.799 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.799 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.799 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.799 * [backup-simplify]: Simplify -0.5 into -0.5 16.799 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.799 * [backup-simplify]: Simplify phi1 into phi1 16.799 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.799 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.799 * [backup-simplify]: Simplify (- 0) into 0 16.799 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.799 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.799 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.799 * [backup-simplify]: Simplify lambda2 into lambda2 16.800 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.800 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.800 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.800 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.800 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.800 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 16.800 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 16.800 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 16.800 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.800 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.800 * [backup-simplify]: Simplify -0.5 into -0.5 16.800 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.800 * [backup-simplify]: Simplify phi2 into phi2 16.800 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.800 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.801 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.801 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.801 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 16.801 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.801 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.801 * [backup-simplify]: Simplify -0.5 into -0.5 16.801 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.801 * [backup-simplify]: Simplify phi1 into phi1 16.801 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.801 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.801 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.801 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.801 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.801 * [backup-simplify]: Simplify lambda2 into lambda2 16.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.802 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.802 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.802 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.802 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 16.802 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in lambda1 16.802 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 16.802 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.802 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.802 * [backup-simplify]: Simplify -0.5 into -0.5 16.802 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.802 * [backup-simplify]: Simplify phi1 into phi1 16.802 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 16.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.802 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.802 * [backup-simplify]: Simplify -0.5 into -0.5 16.802 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.802 * [backup-simplify]: Simplify phi2 into phi2 16.802 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 16.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.803 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.803 * [backup-simplify]: Simplify -0.5 into -0.5 16.803 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.803 * [backup-simplify]: Simplify phi1 into phi1 16.803 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.803 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.803 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.803 * [backup-simplify]: Simplify -0.5 into -0.5 16.803 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.803 * [backup-simplify]: Simplify phi2 into phi2 16.803 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.803 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.803 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.803 * [backup-simplify]: Simplify lambda2 into lambda2 16.803 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.803 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.803 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.804 * [backup-simplify]: Simplify (- 0) into 0 16.804 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.804 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.804 * [backup-simplify]: Simplify (- 0) into 0 16.804 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.804 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.804 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.805 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 16.805 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 16.805 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.805 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.805 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 16.805 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1 16.805 * [taylor]: Taking taylor expansion of 2 in lambda1 16.805 * [backup-simplify]: Simplify 2 into 2 16.805 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1 16.805 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1 16.805 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.805 * [backup-simplify]: Simplify phi2 into phi2 16.805 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.805 * [backup-simplify]: Simplify phi1 into phi1 16.805 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 16.805 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 16.805 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 16.805 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in lambda1 16.805 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1 16.805 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 16.805 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.806 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.806 * [backup-simplify]: Simplify -0.5 into -0.5 16.806 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.806 * [backup-simplify]: Simplify phi2 into phi2 16.806 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.806 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1 16.806 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 16.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.806 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.806 * [backup-simplify]: Simplify -0.5 into -0.5 16.806 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.806 * [backup-simplify]: Simplify phi1 into phi1 16.806 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.806 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1 16.806 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 16.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 16.806 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.806 * [backup-simplify]: Simplify -0.5 into -0.5 16.806 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.806 * [backup-simplify]: Simplify phi1 into phi1 16.806 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.806 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 16.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 16.806 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.806 * [backup-simplify]: Simplify -0.5 into -0.5 16.806 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.806 * [backup-simplify]: Simplify phi2 into phi2 16.806 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.806 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 16.806 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.807 * [backup-simplify]: Simplify lambda2 into lambda2 16.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.807 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.807 * [backup-simplify]: Simplify (- 0) into 0 16.807 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.807 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.807 * [backup-simplify]: Simplify (- 0) into 0 16.807 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.808 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.808 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.808 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.808 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.808 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.808 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.808 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.808 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 16.808 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 16.808 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.809 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.809 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 16.809 * [taylor]: Taking taylor expansion of 2 in lambda1 16.809 * [backup-simplify]: Simplify 2 into 2 16.809 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 16.809 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 16.809 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 16.809 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 16.809 * [taylor]: Taking taylor expansion of -0.5 in lambda1 16.809 * [backup-simplify]: Simplify -0.5 into -0.5 16.809 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 16.809 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 16.809 * [taylor]: Taking taylor expansion of phi1 in lambda1 16.809 * [backup-simplify]: Simplify phi1 into phi1 16.809 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.809 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 16.809 * [taylor]: Taking taylor expansion of phi2 in lambda1 16.809 * [backup-simplify]: Simplify phi2 into phi2 16.809 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.809 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.809 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.809 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.809 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.809 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.809 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.810 * [backup-simplify]: Simplify (- 0) into 0 16.810 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.810 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 16.810 * [taylor]: Taking taylor expansion of lambda2 in lambda1 16.810 * [backup-simplify]: Simplify lambda2 into lambda2 16.810 * [taylor]: Taking taylor expansion of lambda1 in lambda1 16.810 * [backup-simplify]: Simplify 0 into 0 16.810 * [backup-simplify]: Simplify 1 into 1 16.810 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.810 * [backup-simplify]: Simplify (* lambda2 0) into 0 16.811 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 16.811 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 16.811 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.811 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.811 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.812 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.812 * [backup-simplify]: Simplify (+ 0) into 0 16.812 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 16.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 16.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 16.813 * [backup-simplify]: Simplify (+ 0 0) into 0 16.813 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 16.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.814 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 16.814 * [backup-simplify]: Simplify (- 0) into 0 16.814 * [backup-simplify]: Simplify (+ 0 0) into 0 16.814 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 16.815 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.816 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 16.816 * [backup-simplify]: Simplify (+ 0 0) into 0 16.816 * [backup-simplify]: Simplify (+ 0 0) into 0 16.816 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.817 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.817 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.817 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 16.817 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 16.818 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 16.818 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 16.818 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda2 16.818 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2 16.818 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2 16.818 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 16.818 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 16.818 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.818 * [backup-simplify]: Simplify phi2 into phi2 16.818 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.818 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 16.818 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2 16.818 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 16.818 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.819 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.819 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.819 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.819 * [backup-simplify]: Simplify -0.5 into -0.5 16.819 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.819 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.819 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.819 * [backup-simplify]: Simplify phi1 into phi1 16.819 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.819 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.819 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.819 * [backup-simplify]: Simplify phi2 into phi2 16.819 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.819 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.819 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.819 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.819 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.819 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.819 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.820 * [backup-simplify]: Simplify (- 0) into 0 16.820 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.820 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 16.820 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.820 * [backup-simplify]: Simplify lambda1 into lambda1 16.820 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.820 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.820 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.820 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 16.820 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 16.820 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 16.820 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.820 * [backup-simplify]: Simplify phi1 into phi1 16.820 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.821 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.821 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 16.821 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 16.821 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 16.821 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 16.821 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 16.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 16.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.821 * [backup-simplify]: Simplify -0.5 into -0.5 16.821 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.821 * [backup-simplify]: Simplify phi2 into phi2 16.821 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.821 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.821 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.821 * [backup-simplify]: Simplify (- 0) into 0 16.821 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.821 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 16.821 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 16.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 16.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.821 * [backup-simplify]: Simplify -0.5 into -0.5 16.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.821 * [backup-simplify]: Simplify phi1 into phi1 16.822 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.822 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.822 * [backup-simplify]: Simplify (- 0) into 0 16.822 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.822 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.822 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.822 * [backup-simplify]: Simplify 0 into 0 16.822 * [backup-simplify]: Simplify 1 into 1 16.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.823 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.823 * [backup-simplify]: Simplify (* 1 1) into 1 16.823 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.823 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 16.823 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 16.823 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 16.823 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 16.823 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 16.823 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.823 * [backup-simplify]: Simplify -0.5 into -0.5 16.823 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.823 * [backup-simplify]: Simplify phi2 into phi2 16.823 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.823 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.823 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.824 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.824 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 16.824 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 16.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 16.824 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.824 * [backup-simplify]: Simplify -0.5 into -0.5 16.824 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.824 * [backup-simplify]: Simplify phi1 into phi1 16.824 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.824 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.824 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.824 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.824 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.824 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.824 * [backup-simplify]: Simplify 0 into 0 16.824 * [backup-simplify]: Simplify 1 into 1 16.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.824 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.825 * [backup-simplify]: Simplify (* 1 1) into 1 16.825 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.825 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 16.825 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in lambda2 16.825 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda2 16.825 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 16.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 16.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.825 * [backup-simplify]: Simplify -0.5 into -0.5 16.825 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.825 * [backup-simplify]: Simplify phi1 into phi1 16.825 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.825 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda2 16.825 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 16.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 16.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.825 * [backup-simplify]: Simplify -0.5 into -0.5 16.825 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.825 * [backup-simplify]: Simplify phi2 into phi2 16.825 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.826 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda2 16.826 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 16.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 16.826 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.826 * [backup-simplify]: Simplify -0.5 into -0.5 16.826 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.826 * [backup-simplify]: Simplify phi1 into phi1 16.826 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.826 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 16.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 16.826 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.826 * [backup-simplify]: Simplify -0.5 into -0.5 16.826 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.826 * [backup-simplify]: Simplify phi2 into phi2 16.826 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.826 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.826 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.826 * [backup-simplify]: Simplify 0 into 0 16.826 * [backup-simplify]: Simplify 1 into 1 16.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.826 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.827 * [backup-simplify]: Simplify (- 0) into 0 16.827 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.827 * [backup-simplify]: Simplify (- 0) into 0 16.827 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 16.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 16.828 * [backup-simplify]: Simplify (* 1 1) into 1 16.828 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 16.828 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 16.828 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 16.828 * [taylor]: Taking taylor expansion of 2 in lambda2 16.828 * [backup-simplify]: Simplify 2 into 2 16.828 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 16.828 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 16.828 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.828 * [backup-simplify]: Simplify phi2 into phi2 16.828 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.828 * [backup-simplify]: Simplify phi1 into phi1 16.829 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 16.829 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 16.829 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 16.829 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in lambda2 16.829 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda2 16.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 16.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 16.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.829 * [backup-simplify]: Simplify -0.5 into -0.5 16.829 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.829 * [backup-simplify]: Simplify phi2 into phi2 16.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.829 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda2 16.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 16.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 16.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.829 * [backup-simplify]: Simplify -0.5 into -0.5 16.829 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.829 * [backup-simplify]: Simplify phi1 into phi1 16.829 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.829 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda2 16.829 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 16.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 16.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.829 * [backup-simplify]: Simplify -0.5 into -0.5 16.829 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.829 * [backup-simplify]: Simplify phi1 into phi1 16.829 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.830 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 16.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 16.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.830 * [backup-simplify]: Simplify -0.5 into -0.5 16.830 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.830 * [backup-simplify]: Simplify phi2 into phi2 16.830 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.830 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.830 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.830 * [backup-simplify]: Simplify 0 into 0 16.830 * [backup-simplify]: Simplify 1 into 1 16.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.830 * [backup-simplify]: Simplify (- 0) into 0 16.830 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.831 * [backup-simplify]: Simplify (- 0) into 0 16.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.831 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.831 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 16.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 16.832 * [backup-simplify]: Simplify (* 1 1) into 1 16.832 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 16.832 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 16.832 * [taylor]: Taking taylor expansion of 2 in lambda2 16.832 * [backup-simplify]: Simplify 2 into 2 16.832 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 16.832 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 16.832 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 16.832 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 16.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2 16.832 * [backup-simplify]: Simplify -0.5 into -0.5 16.832 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 16.832 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 16.832 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.832 * [backup-simplify]: Simplify phi1 into phi1 16.832 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 16.832 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.832 * [backup-simplify]: Simplify phi2 into phi2 16.832 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.832 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 16.832 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 16.833 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.833 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.833 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.833 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 16.833 * [backup-simplify]: Simplify (- 0) into 0 16.833 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.833 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 16.833 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.833 * [backup-simplify]: Simplify 0 into 0 16.833 * [backup-simplify]: Simplify 1 into 1 16.833 * [taylor]: Taking taylor expansion of lambda1 in lambda2 16.833 * [backup-simplify]: Simplify lambda1 into lambda1 16.833 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.834 * [backup-simplify]: Simplify (* 0 lambda1) into 0 16.834 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 16.834 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 16.834 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 16.835 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 16.835 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 16.836 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 16.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 0) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 16.836 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 16.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 16.837 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 16.838 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 16.839 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 16.840 * [backup-simplify]: Simplify (+ 0) into 0 16.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.840 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.841 * [backup-simplify]: Simplify (- 0) into 0 16.841 * [backup-simplify]: Simplify (+ 0 0) into 0 16.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.842 * [backup-simplify]: Simplify (+ 0) into 0 16.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.842 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.843 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.843 * [backup-simplify]: Simplify (- 0) into 0 16.843 * [backup-simplify]: Simplify (+ 0 0) into 0 16.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 16.844 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 16.844 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.845 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 16.845 * [backup-simplify]: Simplify (+ 0) into 0 16.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.847 * [backup-simplify]: Simplify (+ 0 0) into 0 16.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.847 * [backup-simplify]: Simplify (+ 0) into 0 16.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.847 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.848 * [backup-simplify]: Simplify (+ 0 0) into 0 16.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.849 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 16.849 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.850 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 16.850 * [backup-simplify]: Simplify (+ 0 0) into 0 16.850 * [backup-simplify]: Simplify (+ 0 0) into 0 16.851 * [backup-simplify]: Simplify (+ 0 0) into 0 16.851 * [backup-simplify]: Simplify (+ 0 0) into 0 16.851 * [backup-simplify]: Simplify (+ 0) into 0 16.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.853 * [backup-simplify]: Simplify (+ 0 0) into 0 16.853 * [backup-simplify]: Simplify (+ 0) into 0 16.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.853 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.854 * [backup-simplify]: Simplify (- 0) into 0 16.854 * [backup-simplify]: Simplify (+ 0 0) into 0 16.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.855 * [backup-simplify]: Simplify (+ 0) into 0 16.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.856 * [backup-simplify]: Simplify (- 0) into 0 16.856 * [backup-simplify]: Simplify (+ 0 0) into 0 16.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 16.857 * [backup-simplify]: Simplify (+ 0) into 0 16.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.858 * [backup-simplify]: Simplify (+ 0 0) into 0 16.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 16.859 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.860 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (/ 0 1)))) into 0 16.860 * [backup-simplify]: Simplify (+ 0) into 0 16.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.860 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.862 * [backup-simplify]: Simplify (+ 0 0) into 0 16.862 * [backup-simplify]: Simplify (+ 0) into 0 16.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.862 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.863 * [backup-simplify]: Simplify (+ 0 0) into 0 16.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.864 * [backup-simplify]: Simplify (+ 0) into 0 16.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.865 * [backup-simplify]: Simplify (- 0) into 0 16.866 * [backup-simplify]: Simplify (+ 0 0) into 0 16.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 16.866 * [backup-simplify]: Simplify (+ 0) into 0 16.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 16.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 16.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 16.867 * [backup-simplify]: Simplify (- 0) into 0 16.868 * [backup-simplify]: Simplify (+ 0 0) into 0 16.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 16.868 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.869 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (/ 0 1)))) into 0 16.869 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.870 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.870 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.870 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 16.871 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.871 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.873 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 16.873 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi1 16.873 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1 16.873 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi1 16.873 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 16.873 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 16.873 * [taylor]: Taking taylor expansion of phi2 in phi1 16.873 * [backup-simplify]: Simplify phi2 into phi2 16.873 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.873 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 16.873 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1 16.873 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 16.873 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.873 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.873 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.873 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.873 * [backup-simplify]: Simplify -0.5 into -0.5 16.873 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.873 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.874 * [taylor]: Taking taylor expansion of phi1 in phi1 16.874 * [backup-simplify]: Simplify 0 into 0 16.874 * [backup-simplify]: Simplify 1 into 1 16.874 * [backup-simplify]: Simplify (/ 1 1) into 1 16.874 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.874 * [taylor]: Taking taylor expansion of phi2 in phi1 16.874 * [backup-simplify]: Simplify phi2 into phi2 16.874 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.875 * [backup-simplify]: Simplify (+ 1 0) into 1 16.875 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.875 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.875 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.875 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.875 * [backup-simplify]: Simplify lambda1 into lambda1 16.875 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.875 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.876 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.876 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 16.876 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 16.876 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 16.876 * [taylor]: Taking taylor expansion of phi1 in phi1 16.876 * [backup-simplify]: Simplify 0 into 0 16.876 * [backup-simplify]: Simplify 1 into 1 16.876 * [backup-simplify]: Simplify (* 1 1) into 1 16.877 * [backup-simplify]: Simplify (/ 1 1) into 1 16.877 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 16.877 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 16.877 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 16.877 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 16.877 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.877 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.877 * [backup-simplify]: Simplify -0.5 into -0.5 16.877 * [taylor]: Taking taylor expansion of phi2 in phi1 16.877 * [backup-simplify]: Simplify phi2 into phi2 16.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.877 * [backup-simplify]: Simplify (- 0) into 0 16.878 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.878 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 16.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.878 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.878 * [backup-simplify]: Simplify -0.5 into -0.5 16.878 * [taylor]: Taking taylor expansion of phi1 in phi1 16.878 * [backup-simplify]: Simplify 0 into 0 16.878 * [backup-simplify]: Simplify 1 into 1 16.878 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.878 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.878 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.878 * [backup-simplify]: Simplify lambda2 into lambda2 16.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.879 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.879 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.880 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.880 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 16.880 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 16.880 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 16.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.880 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.880 * [backup-simplify]: Simplify -0.5 into -0.5 16.880 * [taylor]: Taking taylor expansion of phi2 in phi1 16.880 * [backup-simplify]: Simplify phi2 into phi2 16.880 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.880 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.880 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 16.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.880 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.880 * [backup-simplify]: Simplify -0.5 into -0.5 16.880 * [taylor]: Taking taylor expansion of phi1 in phi1 16.880 * [backup-simplify]: Simplify 0 into 0 16.880 * [backup-simplify]: Simplify 1 into 1 16.881 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.881 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.881 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.881 * [backup-simplify]: Simplify lambda2 into lambda2 16.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.882 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.882 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.882 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.882 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 16.882 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi1 16.882 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 16.882 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.882 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.882 * [backup-simplify]: Simplify -0.5 into -0.5 16.882 * [taylor]: Taking taylor expansion of phi1 in phi1 16.882 * [backup-simplify]: Simplify 0 into 0 16.882 * [backup-simplify]: Simplify 1 into 1 16.883 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.883 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 16.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.883 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.883 * [backup-simplify]: Simplify -0.5 into -0.5 16.883 * [taylor]: Taking taylor expansion of phi2 in phi1 16.883 * [backup-simplify]: Simplify phi2 into phi2 16.883 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.883 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 16.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.883 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.883 * [backup-simplify]: Simplify -0.5 into -0.5 16.883 * [taylor]: Taking taylor expansion of phi1 in phi1 16.883 * [backup-simplify]: Simplify 0 into 0 16.883 * [backup-simplify]: Simplify 1 into 1 16.884 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.884 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.884 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.884 * [backup-simplify]: Simplify -0.5 into -0.5 16.884 * [taylor]: Taking taylor expansion of phi2 in phi1 16.884 * [backup-simplify]: Simplify phi2 into phi2 16.884 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.884 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.884 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.884 * [backup-simplify]: Simplify lambda2 into lambda2 16.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.884 * [backup-simplify]: Simplify (- 0) into 0 16.884 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.885 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 16.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 16.885 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.886 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.886 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 16.886 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 16.886 * [taylor]: Taking taylor expansion of 2 in phi1 16.886 * [backup-simplify]: Simplify 2 into 2 16.886 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 16.886 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 16.886 * [taylor]: Taking taylor expansion of phi2 in phi1 16.886 * [backup-simplify]: Simplify phi2 into phi2 16.886 * [taylor]: Taking taylor expansion of phi1 in phi1 16.886 * [backup-simplify]: Simplify 0 into 0 16.886 * [backup-simplify]: Simplify 1 into 1 16.886 * [backup-simplify]: Simplify (* phi2 0) into 0 16.886 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 16.886 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.886 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 16.887 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi1 16.887 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 16.887 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.887 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.887 * [backup-simplify]: Simplify -0.5 into -0.5 16.887 * [taylor]: Taking taylor expansion of phi2 in phi1 16.887 * [backup-simplify]: Simplify phi2 into phi2 16.887 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.887 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 16.887 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.887 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.887 * [backup-simplify]: Simplify -0.5 into -0.5 16.887 * [taylor]: Taking taylor expansion of phi1 in phi1 16.887 * [backup-simplify]: Simplify 0 into 0 16.887 * [backup-simplify]: Simplify 1 into 1 16.887 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.887 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 16.887 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.888 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.888 * [backup-simplify]: Simplify -0.5 into -0.5 16.888 * [taylor]: Taking taylor expansion of phi1 in phi1 16.888 * [backup-simplify]: Simplify 0 into 0 16.888 * [backup-simplify]: Simplify 1 into 1 16.888 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.888 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.888 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.888 * [backup-simplify]: Simplify -0.5 into -0.5 16.888 * [taylor]: Taking taylor expansion of phi2 in phi1 16.888 * [backup-simplify]: Simplify phi2 into phi2 16.888 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.888 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.888 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.888 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.888 * [backup-simplify]: Simplify lambda2 into lambda2 16.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.889 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.889 * [backup-simplify]: Simplify (- 0) into 0 16.889 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.889 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.889 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.889 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.889 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.889 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 16.890 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 16.890 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.890 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.890 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 16.890 * [taylor]: Taking taylor expansion of 2 in phi1 16.890 * [backup-simplify]: Simplify 2 into 2 16.890 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 16.890 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.890 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.890 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.890 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.890 * [backup-simplify]: Simplify -0.5 into -0.5 16.890 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.890 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.890 * [taylor]: Taking taylor expansion of phi1 in phi1 16.890 * [backup-simplify]: Simplify 0 into 0 16.890 * [backup-simplify]: Simplify 1 into 1 16.891 * [backup-simplify]: Simplify (/ 1 1) into 1 16.891 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.891 * [taylor]: Taking taylor expansion of phi2 in phi1 16.891 * [backup-simplify]: Simplify phi2 into phi2 16.891 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.891 * [backup-simplify]: Simplify (+ 1 0) into 1 16.891 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.891 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.891 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.892 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.892 * [backup-simplify]: Simplify lambda2 into lambda2 16.892 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.892 * [backup-simplify]: Simplify lambda1 into lambda1 16.892 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.892 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.892 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.892 * [backup-simplify]: Simplify (+ 1 0) into 1 16.893 * [backup-simplify]: Simplify (+ 0 1) into 1 16.893 * [backup-simplify]: Simplify (+ 0 1) into 1 16.893 * [backup-simplify]: Simplify (+ 1 0) into 1 16.894 * [backup-simplify]: Simplify (sqrt 1) into 1 16.894 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.894 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.895 * [backup-simplify]: Simplify (+ 0 0) into 0 16.895 * [backup-simplify]: Simplify (+ 0 0) into 0 16.895 * [backup-simplify]: Simplify (+ 0 0) into 0 16.895 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 16.895 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 16.895 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2)) 16.895 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 16.895 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 16.896 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 16.896 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi2 16.896 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi2 16.896 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 16.896 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 16.896 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 16.896 * [taylor]: Taking taylor expansion of phi2 in phi2 16.896 * [backup-simplify]: Simplify 0 into 0 16.896 * [backup-simplify]: Simplify 1 into 1 16.897 * [backup-simplify]: Simplify (* 1 1) into 1 16.897 * [backup-simplify]: Simplify (/ 1 1) into 1 16.897 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 16.897 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 16.897 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.897 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.897 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.897 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.897 * [backup-simplify]: Simplify -0.5 into -0.5 16.897 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.897 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.897 * [taylor]: Taking taylor expansion of phi1 in phi2 16.897 * [backup-simplify]: Simplify phi1 into phi1 16.897 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.897 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.897 * [taylor]: Taking taylor expansion of phi2 in phi2 16.897 * [backup-simplify]: Simplify 0 into 0 16.897 * [backup-simplify]: Simplify 1 into 1 16.904 * [backup-simplify]: Simplify (/ 1 1) into 1 16.905 * [backup-simplify]: Simplify (+ 0 1) into 1 16.905 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.906 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.906 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.906 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.906 * [backup-simplify]: Simplify lambda1 into lambda1 16.906 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.906 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.906 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.906 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 16.906 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 16.906 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 16.906 * [taylor]: Taking taylor expansion of phi1 in phi2 16.906 * [backup-simplify]: Simplify phi1 into phi1 16.906 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.906 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.907 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 16.907 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 16.907 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 16.907 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 16.907 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.907 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.907 * [backup-simplify]: Simplify -0.5 into -0.5 16.907 * [taylor]: Taking taylor expansion of phi2 in phi2 16.907 * [backup-simplify]: Simplify 0 into 0 16.907 * [backup-simplify]: Simplify 1 into 1 16.907 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.907 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 16.907 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.908 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.908 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.908 * [backup-simplify]: Simplify -0.5 into -0.5 16.908 * [taylor]: Taking taylor expansion of phi1 in phi2 16.908 * [backup-simplify]: Simplify phi1 into phi1 16.908 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.908 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.908 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.908 * [backup-simplify]: Simplify (- 0) into 0 16.908 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.908 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.908 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.908 * [backup-simplify]: Simplify lambda2 into lambda2 16.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.909 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.909 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.909 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.909 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 16.909 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 16.909 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 16.909 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.909 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.909 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.909 * [backup-simplify]: Simplify -0.5 into -0.5 16.909 * [taylor]: Taking taylor expansion of phi2 in phi2 16.909 * [backup-simplify]: Simplify 0 into 0 16.909 * [backup-simplify]: Simplify 1 into 1 16.910 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.910 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 16.910 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.910 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.910 * [backup-simplify]: Simplify -0.5 into -0.5 16.910 * [taylor]: Taking taylor expansion of phi1 in phi2 16.910 * [backup-simplify]: Simplify phi1 into phi1 16.910 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.910 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.910 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.910 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.910 * [backup-simplify]: Simplify lambda2 into lambda2 16.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.911 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.911 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.911 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.911 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 16.911 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 16.911 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 16.911 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.911 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.911 * [backup-simplify]: Simplify -0.5 into -0.5 16.911 * [taylor]: Taking taylor expansion of phi1 in phi2 16.911 * [backup-simplify]: Simplify phi1 into phi1 16.911 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.911 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 16.911 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.911 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.911 * [backup-simplify]: Simplify -0.5 into -0.5 16.911 * [taylor]: Taking taylor expansion of phi2 in phi2 16.911 * [backup-simplify]: Simplify 0 into 0 16.911 * [backup-simplify]: Simplify 1 into 1 16.912 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.912 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 16.912 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.912 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.912 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.912 * [backup-simplify]: Simplify -0.5 into -0.5 16.912 * [taylor]: Taking taylor expansion of phi1 in phi2 16.912 * [backup-simplify]: Simplify phi1 into phi1 16.912 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.912 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.912 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.912 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.912 * [backup-simplify]: Simplify -0.5 into -0.5 16.912 * [taylor]: Taking taylor expansion of phi2 in phi2 16.912 * [backup-simplify]: Simplify 0 into 0 16.912 * [backup-simplify]: Simplify 1 into 1 16.912 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.912 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.912 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.912 * [backup-simplify]: Simplify lambda2 into lambda2 16.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.913 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.913 * [backup-simplify]: Simplify (- 0) into 0 16.913 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 16.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 16.914 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.914 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.914 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 16.914 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 16.914 * [taylor]: Taking taylor expansion of 2 in phi2 16.914 * [backup-simplify]: Simplify 2 into 2 16.914 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 16.914 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.914 * [taylor]: Taking taylor expansion of phi2 in phi2 16.914 * [backup-simplify]: Simplify 0 into 0 16.914 * [backup-simplify]: Simplify 1 into 1 16.914 * [taylor]: Taking taylor expansion of phi1 in phi2 16.914 * [backup-simplify]: Simplify phi1 into phi1 16.914 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.914 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.914 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.914 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 16.914 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 16.914 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 16.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.914 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.914 * [backup-simplify]: Simplify -0.5 into -0.5 16.914 * [taylor]: Taking taylor expansion of phi2 in phi2 16.914 * [backup-simplify]: Simplify 0 into 0 16.914 * [backup-simplify]: Simplify 1 into 1 16.915 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.915 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 16.915 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.915 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.915 * [backup-simplify]: Simplify -0.5 into -0.5 16.915 * [taylor]: Taking taylor expansion of phi1 in phi2 16.915 * [backup-simplify]: Simplify phi1 into phi1 16.915 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.915 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 16.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.915 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.915 * [backup-simplify]: Simplify -0.5 into -0.5 16.915 * [taylor]: Taking taylor expansion of phi1 in phi2 16.915 * [backup-simplify]: Simplify phi1 into phi1 16.915 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.915 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.915 * [backup-simplify]: Simplify -0.5 into -0.5 16.915 * [taylor]: Taking taylor expansion of phi2 in phi2 16.915 * [backup-simplify]: Simplify 0 into 0 16.915 * [backup-simplify]: Simplify 1 into 1 16.916 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.916 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.916 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.916 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.916 * [backup-simplify]: Simplify lambda2 into lambda2 16.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.916 * [backup-simplify]: Simplify (- 0) into 0 16.916 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.916 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 16.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 16.917 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.917 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.917 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 16.917 * [taylor]: Taking taylor expansion of 2 in phi2 16.917 * [backup-simplify]: Simplify 2 into 2 16.917 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 16.917 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.917 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.917 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.917 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.917 * [backup-simplify]: Simplify -0.5 into -0.5 16.917 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.917 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.917 * [taylor]: Taking taylor expansion of phi1 in phi2 16.917 * [backup-simplify]: Simplify phi1 into phi1 16.917 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.917 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.917 * [taylor]: Taking taylor expansion of phi2 in phi2 16.917 * [backup-simplify]: Simplify 0 into 0 16.918 * [backup-simplify]: Simplify 1 into 1 16.918 * [backup-simplify]: Simplify (/ 1 1) into 1 16.918 * [backup-simplify]: Simplify (+ 0 1) into 1 16.918 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.918 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.918 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 16.918 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.918 * [backup-simplify]: Simplify lambda2 into lambda2 16.918 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.918 * [backup-simplify]: Simplify lambda1 into lambda1 16.919 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.919 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.919 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.919 * [backup-simplify]: Simplify (+ 1 0) into 1 16.919 * [backup-simplify]: Simplify (+ 1 0) into 1 16.920 * [backup-simplify]: Simplify (sqrt 1) into 1 16.920 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.920 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.921 * [backup-simplify]: Simplify (+ 0 0) into 0 16.921 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 16.921 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 16.921 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.921 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 16.921 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 16.921 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 16.921 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi2 16.922 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi2 16.922 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2 16.922 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 16.922 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 16.922 * [taylor]: Taking taylor expansion of phi2 in phi2 16.922 * [backup-simplify]: Simplify 0 into 0 16.922 * [backup-simplify]: Simplify 1 into 1 16.922 * [backup-simplify]: Simplify (* 1 1) into 1 16.922 * [backup-simplify]: Simplify (/ 1 1) into 1 16.922 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2 16.922 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 16.922 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.922 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.922 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.922 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.922 * [backup-simplify]: Simplify -0.5 into -0.5 16.922 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.922 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.922 * [taylor]: Taking taylor expansion of phi1 in phi2 16.922 * [backup-simplify]: Simplify phi1 into phi1 16.922 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.922 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.922 * [taylor]: Taking taylor expansion of phi2 in phi2 16.922 * [backup-simplify]: Simplify 0 into 0 16.922 * [backup-simplify]: Simplify 1 into 1 16.923 * [backup-simplify]: Simplify (/ 1 1) into 1 16.923 * [backup-simplify]: Simplify (+ 0 1) into 1 16.923 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.923 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.923 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 16.923 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.923 * [backup-simplify]: Simplify lambda1 into lambda1 16.924 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.924 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.924 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.924 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 16.924 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 16.924 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 16.924 * [taylor]: Taking taylor expansion of phi1 in phi2 16.924 * [backup-simplify]: Simplify phi1 into phi1 16.924 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 16.924 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 16.924 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 16.924 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 16.924 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 16.924 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 16.924 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.924 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.924 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.924 * [backup-simplify]: Simplify -0.5 into -0.5 16.924 * [taylor]: Taking taylor expansion of phi2 in phi2 16.924 * [backup-simplify]: Simplify 0 into 0 16.924 * [backup-simplify]: Simplify 1 into 1 16.925 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.925 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.925 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 16.925 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.925 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.925 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.925 * [backup-simplify]: Simplify -0.5 into -0.5 16.925 * [taylor]: Taking taylor expansion of phi1 in phi2 16.925 * [backup-simplify]: Simplify phi1 into phi1 16.925 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.925 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.925 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.925 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.925 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.925 * [backup-simplify]: Simplify (- 0) into 0 16.925 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.925 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.925 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.925 * [backup-simplify]: Simplify lambda2 into lambda2 16.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.926 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.926 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.926 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.926 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 16.926 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 16.926 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 16.926 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.926 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.926 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.926 * [backup-simplify]: Simplify -0.5 into -0.5 16.926 * [taylor]: Taking taylor expansion of phi2 in phi2 16.926 * [backup-simplify]: Simplify 0 into 0 16.926 * [backup-simplify]: Simplify 1 into 1 16.927 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.927 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.927 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 16.927 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.927 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.927 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.927 * [backup-simplify]: Simplify -0.5 into -0.5 16.927 * [taylor]: Taking taylor expansion of phi1 in phi2 16.927 * [backup-simplify]: Simplify phi1 into phi1 16.927 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.927 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.927 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.927 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.927 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.927 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.927 * [backup-simplify]: Simplify lambda2 into lambda2 16.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.928 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.928 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.928 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.928 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 16.928 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 16.928 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 16.928 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.928 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.928 * [backup-simplify]: Simplify -0.5 into -0.5 16.928 * [taylor]: Taking taylor expansion of phi1 in phi2 16.928 * [backup-simplify]: Simplify phi1 into phi1 16.928 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.928 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.928 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.928 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 16.928 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.928 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.928 * [backup-simplify]: Simplify -0.5 into -0.5 16.928 * [taylor]: Taking taylor expansion of phi2 in phi2 16.928 * [backup-simplify]: Simplify 0 into 0 16.928 * [backup-simplify]: Simplify 1 into 1 16.929 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.929 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 16.929 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.929 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.929 * [backup-simplify]: Simplify -0.5 into -0.5 16.929 * [taylor]: Taking taylor expansion of phi1 in phi2 16.929 * [backup-simplify]: Simplify phi1 into phi1 16.929 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.929 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.929 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.929 * [backup-simplify]: Simplify -0.5 into -0.5 16.929 * [taylor]: Taking taylor expansion of phi2 in phi2 16.929 * [backup-simplify]: Simplify 0 into 0 16.929 * [backup-simplify]: Simplify 1 into 1 16.930 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.930 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.930 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.930 * [backup-simplify]: Simplify lambda2 into lambda2 16.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.930 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.930 * [backup-simplify]: Simplify (- 0) into 0 16.930 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.931 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 16.931 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 16.931 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.931 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.931 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 16.931 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 16.931 * [taylor]: Taking taylor expansion of 2 in phi2 16.931 * [backup-simplify]: Simplify 2 into 2 16.931 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 16.931 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 16.931 * [taylor]: Taking taylor expansion of phi2 in phi2 16.931 * [backup-simplify]: Simplify 0 into 0 16.931 * [backup-simplify]: Simplify 1 into 1 16.931 * [taylor]: Taking taylor expansion of phi1 in phi2 16.931 * [backup-simplify]: Simplify phi1 into phi1 16.931 * [backup-simplify]: Simplify (* 0 phi1) into 0 16.932 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 16.932 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.932 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 16.932 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi2 16.932 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi2 16.932 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 16.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.932 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.932 * [backup-simplify]: Simplify -0.5 into -0.5 16.932 * [taylor]: Taking taylor expansion of phi2 in phi2 16.932 * [backup-simplify]: Simplify 0 into 0 16.932 * [backup-simplify]: Simplify 1 into 1 16.932 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.932 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi2 16.932 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 16.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.932 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.932 * [backup-simplify]: Simplify -0.5 into -0.5 16.932 * [taylor]: Taking taylor expansion of phi1 in phi2 16.932 * [backup-simplify]: Simplify phi1 into phi1 16.932 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.932 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.932 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi2 16.932 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 16.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 16.932 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.932 * [backup-simplify]: Simplify -0.5 into -0.5 16.932 * [taylor]: Taking taylor expansion of phi1 in phi2 16.933 * [backup-simplify]: Simplify phi1 into phi1 16.933 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 16.933 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.933 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.933 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 16.933 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 16.933 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.933 * [backup-simplify]: Simplify -0.5 into -0.5 16.933 * [taylor]: Taking taylor expansion of phi2 in phi2 16.933 * [backup-simplify]: Simplify 0 into 0 16.933 * [backup-simplify]: Simplify 1 into 1 16.933 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.933 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.933 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 16.933 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.933 * [backup-simplify]: Simplify lambda2 into lambda2 16.933 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 16.933 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 16.934 * [backup-simplify]: Simplify (- 0) into 0 16.934 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 16.934 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 16.934 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 16.934 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 16.934 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.934 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 16.934 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 16.934 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.934 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.935 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 16.935 * [taylor]: Taking taylor expansion of 2 in phi2 16.935 * [backup-simplify]: Simplify 2 into 2 16.935 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 16.935 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 16.935 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 16.935 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 16.935 * [taylor]: Taking taylor expansion of -0.5 in phi2 16.935 * [backup-simplify]: Simplify -0.5 into -0.5 16.935 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 16.935 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 16.935 * [taylor]: Taking taylor expansion of phi1 in phi2 16.935 * [backup-simplify]: Simplify phi1 into phi1 16.935 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 16.935 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 16.935 * [taylor]: Taking taylor expansion of phi2 in phi2 16.935 * [backup-simplify]: Simplify 0 into 0 16.935 * [backup-simplify]: Simplify 1 into 1 16.935 * [backup-simplify]: Simplify (/ 1 1) into 1 16.935 * [backup-simplify]: Simplify (+ 0 1) into 1 16.936 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.936 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.936 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 16.936 * [taylor]: Taking taylor expansion of lambda2 in phi2 16.936 * [backup-simplify]: Simplify lambda2 into lambda2 16.936 * [taylor]: Taking taylor expansion of lambda1 in phi2 16.936 * [backup-simplify]: Simplify lambda1 into lambda1 16.936 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.936 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.936 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.937 * [backup-simplify]: Simplify (+ 1 0) into 1 16.937 * [backup-simplify]: Simplify (+ 1 0) into 1 16.937 * [backup-simplify]: Simplify (sqrt 1) into 1 16.937 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.938 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 16.938 * [backup-simplify]: Simplify (+ 0 0) into 0 16.938 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 16.938 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 16.938 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1)) 16.938 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 16.938 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 16.939 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 16.939 * [taylor]: Taking taylor expansion of 1 in phi1 16.939 * [backup-simplify]: Simplify 1 into 1 16.939 * [taylor]: Taking taylor expansion of (/ -1 phi1) in phi1 16.939 * [taylor]: Taking taylor expansion of -1 in phi1 16.939 * [backup-simplify]: Simplify -1 into -1 16.939 * [taylor]: Taking taylor expansion of phi1 in phi1 16.939 * [backup-simplify]: Simplify 0 into 0 16.939 * [backup-simplify]: Simplify 1 into 1 16.939 * [backup-simplify]: Simplify (/ -1 1) into -1 16.939 * [taylor]: Taking taylor expansion of -1 in lambda2 16.939 * [backup-simplify]: Simplify -1 into -1 16.939 * [taylor]: Taking taylor expansion of 1 in lambda2 16.939 * [backup-simplify]: Simplify 1 into 1 16.940 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 16.940 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.941 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 16.942 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 16.943 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 16.944 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) 16.945 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 16.945 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 16.945 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0 16.945 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 16.946 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 16.947 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 16.948 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 16.949 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) into (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 16.952 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 16.955 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) (pow (/ -1 phi1) 2) (+)) (* 2 1)) into (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) 16.955 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1 16.955 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.955 * [backup-simplify]: Simplify 1/2 into 1/2 16.955 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 16.955 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 16.955 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 16.955 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.955 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.955 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.955 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.955 * [backup-simplify]: Simplify -0.5 into -0.5 16.956 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.956 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.956 * [taylor]: Taking taylor expansion of phi1 in phi1 16.956 * [backup-simplify]: Simplify 0 into 0 16.956 * [backup-simplify]: Simplify 1 into 1 16.956 * [backup-simplify]: Simplify (/ 1 1) into 1 16.956 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.956 * [taylor]: Taking taylor expansion of phi2 in phi1 16.956 * [backup-simplify]: Simplify phi2 into phi2 16.956 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.956 * [backup-simplify]: Simplify (+ 1 0) into 1 16.956 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.957 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.957 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 16.957 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.957 * [backup-simplify]: Simplify lambda1 into lambda1 16.957 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.957 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 16.957 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 16.957 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 16.957 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 16.957 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 16.957 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 16.957 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.957 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.957 * [backup-simplify]: Simplify -0.5 into -0.5 16.957 * [taylor]: Taking taylor expansion of phi2 in phi1 16.957 * [backup-simplify]: Simplify phi2 into phi2 16.957 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.958 * [backup-simplify]: Simplify (- 0) into 0 16.958 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.958 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 16.958 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.958 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.958 * [backup-simplify]: Simplify -0.5 into -0.5 16.958 * [taylor]: Taking taylor expansion of phi1 in phi1 16.958 * [backup-simplify]: Simplify 0 into 0 16.958 * [backup-simplify]: Simplify 1 into 1 16.958 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.958 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.958 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.958 * [backup-simplify]: Simplify lambda2 into lambda2 16.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.959 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.959 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.959 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.959 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 16.959 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 16.959 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 16.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.959 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.959 * [backup-simplify]: Simplify -0.5 into -0.5 16.959 * [taylor]: Taking taylor expansion of phi2 in phi1 16.959 * [backup-simplify]: Simplify phi2 into phi2 16.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.960 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.960 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 16.960 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.960 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.960 * [backup-simplify]: Simplify -0.5 into -0.5 16.960 * [taylor]: Taking taylor expansion of phi1 in phi1 16.960 * [backup-simplify]: Simplify 0 into 0 16.960 * [backup-simplify]: Simplify 1 into 1 16.960 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.960 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.960 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.960 * [backup-simplify]: Simplify lambda2 into lambda2 16.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.961 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.961 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.961 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.961 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 16.961 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) in phi1 16.961 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 16.961 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.961 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.961 * [backup-simplify]: Simplify -0.5 into -0.5 16.961 * [taylor]: Taking taylor expansion of phi2 in phi1 16.961 * [backup-simplify]: Simplify phi2 into phi2 16.961 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.961 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 16.961 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.961 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.961 * [backup-simplify]: Simplify -0.5 into -0.5 16.961 * [taylor]: Taking taylor expansion of phi1 in phi1 16.961 * [backup-simplify]: Simplify 0 into 0 16.961 * [backup-simplify]: Simplify 1 into 1 16.962 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.962 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 16.962 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.962 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.962 * [backup-simplify]: Simplify -0.5 into -0.5 16.962 * [taylor]: Taking taylor expansion of phi1 in phi1 16.962 * [backup-simplify]: Simplify 0 into 0 16.962 * [backup-simplify]: Simplify 1 into 1 16.962 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.962 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.962 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.962 * [backup-simplify]: Simplify -0.5 into -0.5 16.962 * [taylor]: Taking taylor expansion of phi2 in phi1 16.962 * [backup-simplify]: Simplify phi2 into phi2 16.962 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.962 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.962 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.962 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.963 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.963 * [backup-simplify]: Simplify lambda2 into lambda2 16.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.963 * [backup-simplify]: Simplify (- 0) into 0 16.963 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 16.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) 16.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 16.964 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.964 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) 16.964 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 16.964 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 16.964 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1 16.964 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.964 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.964 * [backup-simplify]: Simplify -0.5 into -0.5 16.964 * [taylor]: Taking taylor expansion of phi2 in phi1 16.964 * [backup-simplify]: Simplify phi2 into phi2 16.964 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.964 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.964 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.964 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1 16.964 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.964 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.964 * [backup-simplify]: Simplify -0.5 into -0.5 16.964 * [taylor]: Taking taylor expansion of phi2 in phi1 16.964 * [backup-simplify]: Simplify phi2 into phi2 16.964 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.964 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.964 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.964 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1 16.964 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.964 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.965 * [backup-simplify]: Simplify -0.5 into -0.5 16.965 * [taylor]: Taking taylor expansion of phi1 in phi1 16.965 * [backup-simplify]: Simplify 0 into 0 16.965 * [backup-simplify]: Simplify 1 into 1 16.965 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.965 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.965 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.965 * [backup-simplify]: Simplify -0.5 into -0.5 16.965 * [taylor]: Taking taylor expansion of phi1 in phi1 16.965 * [backup-simplify]: Simplify 0 into 0 16.965 * [backup-simplify]: Simplify 1 into 1 16.965 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.965 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.965 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.965 * [backup-simplify]: Simplify lambda2 into lambda2 16.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.966 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.966 * [backup-simplify]: Simplify (- 0) into 0 16.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 16.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 16.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 16.967 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.967 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 16.967 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 16.967 * [taylor]: Taking taylor expansion of 2 in phi1 16.967 * [backup-simplify]: Simplify 2 into 2 16.967 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 16.967 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 16.967 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 16.967 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 16.967 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.967 * [backup-simplify]: Simplify -0.5 into -0.5 16.967 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 16.967 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 16.967 * [taylor]: Taking taylor expansion of phi1 in phi1 16.967 * [backup-simplify]: Simplify 0 into 0 16.967 * [backup-simplify]: Simplify 1 into 1 16.967 * [backup-simplify]: Simplify (/ 1 1) into 1 16.967 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 16.967 * [taylor]: Taking taylor expansion of phi2 in phi1 16.967 * [backup-simplify]: Simplify phi2 into phi2 16.967 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 16.968 * [backup-simplify]: Simplify (+ 1 0) into 1 16.968 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 16.968 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 16.968 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 16.968 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.968 * [backup-simplify]: Simplify lambda2 into lambda2 16.968 * [taylor]: Taking taylor expansion of lambda1 in phi1 16.968 * [backup-simplify]: Simplify lambda1 into lambda1 16.968 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 16.968 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 16.969 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 16.969 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)))) into 0 16.969 * [taylor]: Taking taylor expansion of 0 in lambda2 16.969 * [backup-simplify]: Simplify 0 into 0 16.969 * [taylor]: Taking taylor expansion of 0 in lambda2 16.969 * [backup-simplify]: Simplify 0 into 0 16.969 * [taylor]: Taking taylor expansion of -1 in lambda1 16.969 * [backup-simplify]: Simplify -1 into -1 16.969 * [taylor]: Taking taylor expansion of 1 in lambda1 16.969 * [backup-simplify]: Simplify 1 into 1 16.970 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.970 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.971 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 16.971 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 16.971 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 16.971 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 16.971 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 16.972 * [backup-simplify]: Simplify (+ 0) into 0 16.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.972 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.972 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.973 * [backup-simplify]: Simplify (- 0) into 0 16.973 * [backup-simplify]: Simplify (+ 0 0) into 0 16.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 16.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 16.974 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 16.974 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.974 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.974 * [backup-simplify]: Simplify (+ 0) into 0 16.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.975 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.976 * [backup-simplify]: Simplify (+ 0 0) into 0 16.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 16.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.976 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 16.976 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.977 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.977 * [backup-simplify]: Simplify (+ 0 0) into 0 16.977 * [backup-simplify]: Simplify (+ 0 0) into 0 16.977 * [backup-simplify]: Simplify (+ 0 0) into 0 16.978 * [backup-simplify]: Simplify (+ 0 0) into 0 16.978 * [backup-simplify]: Simplify (+ 0) into 0 16.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.980 * [backup-simplify]: Simplify (- 0) into 0 16.980 * [backup-simplify]: Simplify (+ 0 0) into 0 16.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 16.980 * [backup-simplify]: Simplify (+ 0) into 0 16.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.981 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.982 * [backup-simplify]: Simplify (+ 0 0) into 0 16.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 16.982 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.983 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.983 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 phi1)))) into 0 16.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 16.984 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ 1 phi1)))) into 0 16.984 * [backup-simplify]: Simplify (+ 0) into 0 16.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.985 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.986 * [backup-simplify]: Simplify (+ 0 0) into 0 16.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 16.986 * [backup-simplify]: Simplify (+ 0) into 0 16.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 16.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 16.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 16.987 * [backup-simplify]: Simplify (- 0) into 0 16.988 * [backup-simplify]: Simplify (+ 0 0) into 0 16.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 16.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 16.988 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.988 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 16.989 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 16.989 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 16.989 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 16.989 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 16.990 * [backup-simplify]: Simplify (+ 0 0) into 0 16.990 * [backup-simplify]: Simplify (+ 0 0) into 0 16.990 * [backup-simplify]: Simplify (+ 0 0) into 0 16.990 * [backup-simplify]: Simplify (- 0) into 0 16.991 * [backup-simplify]: Simplify (+ 0 0) into 0 16.994 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (/ -1 phi1) (* 1/2 (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))))) (* 2 1)) into (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))))))) 16.994 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))))))) in phi1 16.994 * [taylor]: Taking taylor expansion of 1/2 in phi1 16.995 * [backup-simplify]: Simplify 1/2 into 1/2 16.995 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2)))))) in phi1 16.995 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1)))) in phi1 16.995 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 16.995 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 16.995 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 16.995 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 16.995 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.995 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.995 * [backup-simplify]: Simplify -0.5 into -0.5 16.995 * [taylor]: Taking taylor expansion of phi2 in phi1 16.995 * [backup-simplify]: Simplify phi2 into phi2 16.995 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.995 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.995 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 16.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 16.995 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 16.995 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 16.995 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 16.995 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.995 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.995 * [backup-simplify]: Simplify -0.5 into -0.5 16.995 * [taylor]: Taking taylor expansion of phi1 in phi1 16.995 * [backup-simplify]: Simplify 0 into 0 16.995 * [backup-simplify]: Simplify 1 into 1 16.995 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.996 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 16.996 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 16.996 * [taylor]: Taking taylor expansion of phi1 in phi1 16.996 * [backup-simplify]: Simplify 0 into 0 16.996 * [backup-simplify]: Simplify 1 into 1 16.996 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.996 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.996 * [backup-simplify]: Simplify lambda2 into lambda2 16.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 16.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 16.996 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 16.996 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.996 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.996 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.997 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 16.997 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.997 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1))) in phi1 16.997 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* phi1 (pow lambda2 2))) in phi1 16.997 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 16.997 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 16.997 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 16.997 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 16.997 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.997 * [backup-simplify]: Simplify -0.5 into -0.5 16.997 * [taylor]: Taking taylor expansion of phi2 in phi1 16.997 * [backup-simplify]: Simplify phi2 into phi2 16.997 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 16.997 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 16.997 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 16.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 16.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 16.998 * [backup-simplify]: Simplify (- 0) into 0 16.998 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 16.998 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 16.998 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 16.998 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 16.998 * [taylor]: Taking taylor expansion of -0.5 in phi1 16.998 * [backup-simplify]: Simplify -0.5 into -0.5 16.998 * [taylor]: Taking taylor expansion of phi1 in phi1 16.998 * [backup-simplify]: Simplify 0 into 0 16.998 * [backup-simplify]: Simplify 1 into 1 16.998 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 16.998 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 16.998 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 16.998 * [taylor]: Taking taylor expansion of phi1 in phi1 16.998 * [backup-simplify]: Simplify 0 into 0 16.998 * [backup-simplify]: Simplify 1 into 1 16.998 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 16.998 * [taylor]: Taking taylor expansion of lambda2 in phi1 16.998 * [backup-simplify]: Simplify lambda2 into lambda2 16.998 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 16.998 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 16.999 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 16.999 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 16.999 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 16.999 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 16.999 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 16.999 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 16.999 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow lambda1 2) phi1)) in phi1 16.999 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.000 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.000 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.000 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.000 * [backup-simplify]: Simplify -0.5 into -0.5 17.000 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.000 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.000 * [taylor]: Taking taylor expansion of phi1 in phi1 17.000 * [backup-simplify]: Simplify 0 into 0 17.000 * [backup-simplify]: Simplify 1 into 1 17.000 * [backup-simplify]: Simplify (/ 1 1) into 1 17.000 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.000 * [taylor]: Taking taylor expansion of phi2 in phi1 17.000 * [backup-simplify]: Simplify phi2 into phi2 17.000 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.000 * [backup-simplify]: Simplify (+ 1 0) into 1 17.001 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.001 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.001 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1 17.001 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.001 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.001 * [backup-simplify]: Simplify lambda1 into lambda1 17.001 * [taylor]: Taking taylor expansion of phi1 in phi1 17.001 * [backup-simplify]: Simplify 0 into 0 17.001 * [backup-simplify]: Simplify 1 into 1 17.001 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.001 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.001 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0 17.001 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.001 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2) 17.002 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.002 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))))) in phi1 17.002 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1)))) in phi1 17.002 * [taylor]: Taking taylor expansion of 2 in phi1 17.002 * [backup-simplify]: Simplify 2 into 2 17.002 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 (* lambda1 phi1))) in phi1 17.002 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.002 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.002 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.002 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.002 * [backup-simplify]: Simplify -0.5 into -0.5 17.002 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.002 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.002 * [taylor]: Taking taylor expansion of phi1 in phi1 17.002 * [backup-simplify]: Simplify 0 into 0 17.002 * [backup-simplify]: Simplify 1 into 1 17.002 * [backup-simplify]: Simplify (/ 1 1) into 1 17.002 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.002 * [taylor]: Taking taylor expansion of phi2 in phi1 17.002 * [backup-simplify]: Simplify phi2 into phi2 17.002 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.003 * [backup-simplify]: Simplify (+ 1 0) into 1 17.003 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.003 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.003 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 phi1)) in phi1 17.003 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.003 * [backup-simplify]: Simplify lambda2 into lambda2 17.003 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1 17.003 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.003 * [backup-simplify]: Simplify lambda1 into lambda1 17.003 * [taylor]: Taking taylor expansion of phi1 in phi1 17.003 * [backup-simplify]: Simplify 0 into 0 17.003 * [backup-simplify]: Simplify 1 into 1 17.004 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.004 * [backup-simplify]: Simplify (* lambda1 0) into 0 17.004 * [backup-simplify]: Simplify (* lambda2 0) into 0 17.004 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 17.004 * [backup-simplify]: Simplify (+ (* lambda2 lambda1) (* 0 0)) into (* lambda2 lambda1) 17.004 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.005 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2)))) in phi1 17.005 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* phi1 (pow lambda2 2))) in phi1 17.005 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 17.005 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.005 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.005 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.005 * [backup-simplify]: Simplify -0.5 into -0.5 17.005 * [taylor]: Taking taylor expansion of phi1 in phi1 17.005 * [backup-simplify]: Simplify 0 into 0 17.005 * [backup-simplify]: Simplify 1 into 1 17.005 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.005 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.005 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 17.005 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.005 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.005 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.005 * [backup-simplify]: Simplify -0.5 into -0.5 17.005 * [taylor]: Taking taylor expansion of phi2 in phi1 17.005 * [backup-simplify]: Simplify phi2 into phi2 17.005 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.005 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.005 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.005 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 17.005 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.005 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.005 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.005 * [backup-simplify]: Simplify -0.5 into -0.5 17.005 * [taylor]: Taking taylor expansion of phi1 in phi1 17.005 * [backup-simplify]: Simplify 0 into 0 17.005 * [backup-simplify]: Simplify 1 into 1 17.006 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.006 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.006 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.006 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.006 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.006 * [backup-simplify]: Simplify -0.5 into -0.5 17.006 * [taylor]: Taking taylor expansion of phi2 in phi1 17.006 * [backup-simplify]: Simplify phi2 into phi2 17.006 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.006 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.006 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.006 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 17.006 * [taylor]: Taking taylor expansion of phi1 in phi1 17.006 * [backup-simplify]: Simplify 0 into 0 17.006 * [backup-simplify]: Simplify 1 into 1 17.006 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.006 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.006 * [backup-simplify]: Simplify lambda2 into lambda2 17.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.006 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.007 * [backup-simplify]: Simplify (- 0) into 0 17.007 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.007 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 17.007 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 17.007 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.007 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 17.007 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.008 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 17.008 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) 17.008 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* phi1 (pow lambda2 2))) in phi1 17.008 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi1 17.008 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.008 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.008 * [backup-simplify]: Simplify -0.5 into -0.5 17.008 * [taylor]: Taking taylor expansion of phi2 in phi1 17.008 * [backup-simplify]: Simplify phi2 into phi2 17.008 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.008 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi1 17.008 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.008 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.008 * [backup-simplify]: Simplify -0.5 into -0.5 17.008 * [taylor]: Taking taylor expansion of phi2 in phi1 17.008 * [backup-simplify]: Simplify phi2 into phi2 17.008 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.009 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi1 17.009 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.009 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.009 * [backup-simplify]: Simplify -0.5 into -0.5 17.009 * [taylor]: Taking taylor expansion of phi1 in phi1 17.009 * [backup-simplify]: Simplify 0 into 0 17.009 * [backup-simplify]: Simplify 1 into 1 17.009 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.009 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.009 * [backup-simplify]: Simplify -0.5 into -0.5 17.009 * [taylor]: Taking taylor expansion of phi1 in phi1 17.009 * [backup-simplify]: Simplify 0 into 0 17.009 * [backup-simplify]: Simplify 1 into 1 17.014 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.014 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.014 * [taylor]: Taking taylor expansion of (* phi1 (pow lambda2 2)) in phi1 17.014 * [taylor]: Taking taylor expansion of phi1 in phi1 17.014 * [backup-simplify]: Simplify 0 into 0 17.014 * [backup-simplify]: Simplify 1 into 1 17.014 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.014 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.014 * [backup-simplify]: Simplify lambda2 into lambda2 17.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.014 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.015 * [backup-simplify]: Simplify (- 0) into 0 17.015 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.015 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.015 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.016 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.016 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 17.016 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.016 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow lambda2 2))) into (pow lambda2 2) 17.016 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 17.017 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) 17.018 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 17.018 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 17.019 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) 17.020 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 17.021 * [backup-simplify]: Simplify (- (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) into (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 17.023 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))))) 17.025 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))))) into (* 1/2 (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) 17.026 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2 17.026 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.026 * [backup-simplify]: Simplify 1/2 into 1/2 17.026 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 17.026 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 17.026 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.026 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.026 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.026 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.026 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.026 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.026 * [backup-simplify]: Simplify -0.5 into -0.5 17.026 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.026 * [backup-simplify]: Simplify phi2 into phi2 17.026 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.026 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.026 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.026 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.026 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.027 * [backup-simplify]: Simplify (- 0) into 0 17.027 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.027 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.027 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.027 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.027 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.027 * [backup-simplify]: Simplify -0.5 into -0.5 17.027 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.027 * [backup-simplify]: Simplify phi1 into phi1 17.027 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.027 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.027 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.027 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.027 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.027 * [backup-simplify]: Simplify (- 0) into 0 17.027 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.027 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.027 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.027 * [backup-simplify]: Simplify 0 into 0 17.027 * [backup-simplify]: Simplify 1 into 1 17.028 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.028 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.028 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.028 * [backup-simplify]: Simplify (* 1 1) into 1 17.028 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.028 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 17.028 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 17.028 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.028 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.029 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.029 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.029 * [backup-simplify]: Simplify -0.5 into -0.5 17.029 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.029 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.029 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.029 * [backup-simplify]: Simplify phi1 into phi1 17.029 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.029 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.029 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.029 * [backup-simplify]: Simplify phi2 into phi2 17.029 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.029 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.029 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.029 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.029 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.029 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.029 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.030 * [backup-simplify]: Simplify (- 0) into 0 17.030 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.030 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.030 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.030 * [backup-simplify]: Simplify lambda1 into lambda1 17.030 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.030 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.030 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.030 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.031 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.031 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.031 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.031 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.031 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.031 * [backup-simplify]: Simplify -0.5 into -0.5 17.031 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.031 * [backup-simplify]: Simplify phi2 into phi2 17.031 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.031 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.031 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.031 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.031 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.031 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.031 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.031 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.031 * [backup-simplify]: Simplify -0.5 into -0.5 17.031 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.031 * [backup-simplify]: Simplify phi1 into phi1 17.031 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.031 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.031 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.031 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.031 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.031 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.031 * [backup-simplify]: Simplify 0 into 0 17.031 * [backup-simplify]: Simplify 1 into 1 17.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.032 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.032 * [backup-simplify]: Simplify (* 1 1) into 1 17.032 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.032 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 17.032 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 17.032 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 17.032 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.032 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.033 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.033 * [backup-simplify]: Simplify -0.5 into -0.5 17.033 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.033 * [backup-simplify]: Simplify phi1 into phi1 17.033 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.033 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 17.033 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.033 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.033 * [backup-simplify]: Simplify -0.5 into -0.5 17.033 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.033 * [backup-simplify]: Simplify phi2 into phi2 17.033 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.033 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 17.033 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.033 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.033 * [backup-simplify]: Simplify -0.5 into -0.5 17.033 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.033 * [backup-simplify]: Simplify phi2 into phi2 17.033 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.033 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.033 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.033 * [backup-simplify]: Simplify -0.5 into -0.5 17.033 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.033 * [backup-simplify]: Simplify phi1 into phi1 17.033 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.033 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.033 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.033 * [backup-simplify]: Simplify 0 into 0 17.034 * [backup-simplify]: Simplify 1 into 1 17.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.034 * [backup-simplify]: Simplify (- 0) into 0 17.034 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.034 * [backup-simplify]: Simplify (- 0) into 0 17.034 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.035 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.035 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 17.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 17.035 * [backup-simplify]: Simplify (* 1 1) into 1 17.036 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.036 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 17.036 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 17.036 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 17.036 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.036 * [backup-simplify]: Simplify -0.5 into -0.5 17.036 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.036 * [backup-simplify]: Simplify phi2 into phi2 17.036 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.036 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 17.036 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.036 * [backup-simplify]: Simplify -0.5 into -0.5 17.036 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.036 * [backup-simplify]: Simplify phi1 into phi1 17.036 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.036 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 17.036 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.036 * [backup-simplify]: Simplify -0.5 into -0.5 17.036 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.036 * [backup-simplify]: Simplify phi2 into phi2 17.036 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.037 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.037 * [backup-simplify]: Simplify -0.5 into -0.5 17.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.037 * [backup-simplify]: Simplify phi1 into phi1 17.037 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.037 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.037 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.037 * [backup-simplify]: Simplify 0 into 0 17.037 * [backup-simplify]: Simplify 1 into 1 17.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.037 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.037 * [backup-simplify]: Simplify (- 0) into 0 17.037 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.037 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.037 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.037 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.038 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.038 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.038 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.038 * [backup-simplify]: Simplify (- 0) into 0 17.038 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 17.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 17.038 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 17.039 * [backup-simplify]: Simplify (* 1 1) into 1 17.039 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 17.039 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 17.039 * [taylor]: Taking taylor expansion of 2 in lambda2 17.039 * [backup-simplify]: Simplify 2 into 2 17.039 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 17.039 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.039 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.039 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.039 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.039 * [backup-simplify]: Simplify -0.5 into -0.5 17.039 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.039 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.039 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.039 * [backup-simplify]: Simplify phi1 into phi1 17.039 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.039 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.039 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.039 * [backup-simplify]: Simplify phi2 into phi2 17.039 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.039 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.039 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.040 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.040 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.040 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.040 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.040 * [backup-simplify]: Simplify (- 0) into 0 17.040 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.040 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.040 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.040 * [backup-simplify]: Simplify 0 into 0 17.040 * [backup-simplify]: Simplify 1 into 1 17.040 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.040 * [backup-simplify]: Simplify lambda1 into lambda1 17.040 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.041 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.041 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.041 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 17.041 * [backup-simplify]: Simplify (+ 0) into 0 17.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.042 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.043 * [backup-simplify]: Simplify (- 0) into 0 17.043 * [backup-simplify]: Simplify (+ 0 0) into 0 17.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.043 * [backup-simplify]: Simplify (+ 0) into 0 17.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.044 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.045 * [backup-simplify]: Simplify (- 0) into 0 17.045 * [backup-simplify]: Simplify (+ 0 0) into 0 17.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.046 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.046 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.047 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.047 * [backup-simplify]: Simplify (+ 0) into 0 17.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.048 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.049 * [backup-simplify]: Simplify (+ 0 0) into 0 17.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.049 * [backup-simplify]: Simplify (+ 0) into 0 17.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.049 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.050 * [backup-simplify]: Simplify (+ 0 0) into 0 17.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.051 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.051 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.052 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.052 * [backup-simplify]: Simplify (+ 0 0) into 0 17.053 * [backup-simplify]: Simplify (+ 0 0) into 0 17.053 * [backup-simplify]: Simplify (+ 0) into 0 17.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.054 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.054 * [backup-simplify]: Simplify (+ 0 0) into 0 17.055 * [backup-simplify]: Simplify (+ 0) into 0 17.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.055 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.056 * [backup-simplify]: Simplify (+ 0 0) into 0 17.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.057 * [backup-simplify]: Simplify (+ 0) into 0 17.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.057 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.058 * [backup-simplify]: Simplify (- 0) into 0 17.059 * [backup-simplify]: Simplify (+ 0 0) into 0 17.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 17.059 * [backup-simplify]: Simplify (+ 0) into 0 17.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.061 * [backup-simplify]: Simplify (- 0) into 0 17.061 * [backup-simplify]: Simplify (+ 0 0) into 0 17.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 17.061 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.062 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0 17.062 * [backup-simplify]: Simplify (+ 0) into 0 17.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.064 * [backup-simplify]: Simplify (- 0) into 0 17.064 * [backup-simplify]: Simplify (+ 0 0) into 0 17.064 * [backup-simplify]: Simplify (+ 0) into 0 17.065 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.065 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.066 * [backup-simplify]: Simplify (+ 0 0) into 0 17.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.066 * [backup-simplify]: Simplify (+ 0) into 0 17.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.067 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.068 * [backup-simplify]: Simplify (+ 0 0) into 0 17.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 17.068 * [backup-simplify]: Simplify (+ 0) into 0 17.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.069 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.070 * [backup-simplify]: Simplify (- 0) into 0 17.070 * [backup-simplify]: Simplify (+ 0 0) into 0 17.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 17.071 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.072 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0 17.072 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.073 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.073 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.073 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.074 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.074 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.075 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 17.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 0) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 17.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) 17.076 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 17.077 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 17.078 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.078 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 17.078 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 17.078 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.078 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.078 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.078 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.078 * [backup-simplify]: Simplify -0.5 into -0.5 17.079 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.079 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.079 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.079 * [backup-simplify]: Simplify phi1 into phi1 17.079 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.079 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.079 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.079 * [backup-simplify]: Simplify phi2 into phi2 17.079 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.079 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.079 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.079 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.079 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.079 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.079 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.080 * [backup-simplify]: Simplify (- 0) into 0 17.080 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.080 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.080 * [backup-simplify]: Simplify 0 into 0 17.080 * [backup-simplify]: Simplify 1 into 1 17.080 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.081 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.081 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.081 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.082 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 17.083 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 17.083 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 17.083 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) 17.085 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) 17.087 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) into (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 17.089 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (- (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 17.092 * [backup-simplify]: Simplify (* 1/2 (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) into (* 1/2 (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) 17.092 * [taylor]: Taking taylor expansion of (* 1/2 (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2 17.092 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.092 * [backup-simplify]: Simplify 1/2 into 1/2 17.092 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 17.092 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 17.092 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.092 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.092 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.092 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.092 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.092 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.092 * [backup-simplify]: Simplify -0.5 into -0.5 17.092 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.092 * [backup-simplify]: Simplify phi2 into phi2 17.092 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.092 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.092 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.093 * [backup-simplify]: Simplify (- 0) into 0 17.093 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.093 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.093 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.093 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.093 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.093 * [backup-simplify]: Simplify -0.5 into -0.5 17.093 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.093 * [backup-simplify]: Simplify phi1 into phi1 17.093 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.093 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.093 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.093 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.094 * [backup-simplify]: Simplify (- 0) into 0 17.094 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.094 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.094 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.094 * [backup-simplify]: Simplify 0 into 0 17.094 * [backup-simplify]: Simplify 1 into 1 17.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.094 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.094 * [backup-simplify]: Simplify (* 1 1) into 1 17.095 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.095 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 17.095 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 17.095 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.095 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.095 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.095 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.095 * [backup-simplify]: Simplify -0.5 into -0.5 17.095 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.095 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.095 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.095 * [backup-simplify]: Simplify phi1 into phi1 17.095 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.095 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.095 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.095 * [backup-simplify]: Simplify phi2 into phi2 17.095 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.095 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.095 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.095 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.095 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.095 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.096 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.096 * [backup-simplify]: Simplify (- 0) into 0 17.096 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.096 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.096 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.096 * [backup-simplify]: Simplify lambda1 into lambda1 17.096 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.096 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.096 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.096 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.096 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.096 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.096 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.097 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.097 * [backup-simplify]: Simplify -0.5 into -0.5 17.097 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.097 * [backup-simplify]: Simplify phi2 into phi2 17.097 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.097 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.097 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.097 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.097 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.097 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.097 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.097 * [backup-simplify]: Simplify -0.5 into -0.5 17.097 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.097 * [backup-simplify]: Simplify phi1 into phi1 17.097 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.097 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.097 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.097 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.097 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.097 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.097 * [backup-simplify]: Simplify 0 into 0 17.097 * [backup-simplify]: Simplify 1 into 1 17.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.098 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.098 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.098 * [backup-simplify]: Simplify (* 1 1) into 1 17.098 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.098 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 17.098 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 17.098 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 17.098 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.098 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.098 * [backup-simplify]: Simplify -0.5 into -0.5 17.098 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.098 * [backup-simplify]: Simplify phi2 into phi2 17.099 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.099 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 17.099 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.099 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.099 * [backup-simplify]: Simplify -0.5 into -0.5 17.099 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.099 * [backup-simplify]: Simplify phi2 into phi2 17.099 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.099 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 17.099 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.099 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.099 * [backup-simplify]: Simplify -0.5 into -0.5 17.099 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.099 * [backup-simplify]: Simplify phi1 into phi1 17.099 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.099 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.099 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.099 * [backup-simplify]: Simplify -0.5 into -0.5 17.099 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.099 * [backup-simplify]: Simplify phi1 into phi1 17.099 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.099 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.099 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.099 * [backup-simplify]: Simplify 0 into 0 17.099 * [backup-simplify]: Simplify 1 into 1 17.099 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.100 * [backup-simplify]: Simplify (- 0) into 0 17.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.101 * [backup-simplify]: Simplify (- 0) into 0 17.101 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.101 * [backup-simplify]: Simplify (* 1 1) into 1 17.101 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 17.102 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 17.102 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) in lambda2 17.102 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda2 17.102 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.102 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.102 * [backup-simplify]: Simplify -0.5 into -0.5 17.102 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.102 * [backup-simplify]: Simplify phi1 into phi1 17.102 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.102 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.102 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda2 17.102 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.102 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.102 * [backup-simplify]: Simplify -0.5 into -0.5 17.102 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.102 * [backup-simplify]: Simplify phi2 into phi2 17.102 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.102 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.102 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda2 17.102 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.102 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.102 * [backup-simplify]: Simplify -0.5 into -0.5 17.102 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.102 * [backup-simplify]: Simplify phi1 into phi1 17.102 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.102 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.102 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.102 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.102 * [backup-simplify]: Simplify -0.5 into -0.5 17.102 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.102 * [backup-simplify]: Simplify phi2 into phi2 17.102 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.103 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.103 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.103 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.103 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.103 * [backup-simplify]: Simplify 0 into 0 17.103 * [backup-simplify]: Simplify 1 into 1 17.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.103 * [backup-simplify]: Simplify (- 0) into 0 17.103 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.103 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.103 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.104 * [backup-simplify]: Simplify (- 0) into 0 17.104 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 17.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.105 * [backup-simplify]: Simplify (* 1 1) into 1 17.105 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.105 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 17.105 * [taylor]: Taking taylor expansion of 2 in lambda2 17.105 * [backup-simplify]: Simplify 2 into 2 17.105 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 17.105 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.105 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.105 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.105 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.105 * [backup-simplify]: Simplify -0.5 into -0.5 17.105 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.105 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.105 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.105 * [backup-simplify]: Simplify phi1 into phi1 17.105 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.105 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.105 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.105 * [backup-simplify]: Simplify phi2 into phi2 17.105 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.105 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.105 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.105 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.105 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.106 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.106 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.106 * [backup-simplify]: Simplify (- 0) into 0 17.106 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.106 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.106 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.106 * [backup-simplify]: Simplify 0 into 0 17.106 * [backup-simplify]: Simplify 1 into 1 17.106 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.106 * [backup-simplify]: Simplify lambda1 into lambda1 17.106 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.106 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.107 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.107 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 17.107 * [backup-simplify]: Simplify (+ 0) into 0 17.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.109 * [backup-simplify]: Simplify (- 0) into 0 17.109 * [backup-simplify]: Simplify (+ 0 0) into 0 17.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.109 * [backup-simplify]: Simplify (+ 0) into 0 17.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.111 * [backup-simplify]: Simplify (- 0) into 0 17.111 * [backup-simplify]: Simplify (+ 0 0) into 0 17.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.111 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.111 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.112 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.112 * [backup-simplify]: Simplify (+ 0) into 0 17.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.114 * [backup-simplify]: Simplify (+ 0 0) into 0 17.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.114 * [backup-simplify]: Simplify (+ 0) into 0 17.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.116 * [backup-simplify]: Simplify (+ 0 0) into 0 17.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.116 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.116 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.117 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.117 * [backup-simplify]: Simplify (+ 0 0) into 0 17.118 * [backup-simplify]: Simplify (+ 0 0) into 0 17.118 * [backup-simplify]: Simplify (+ 0) into 0 17.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.123 * [backup-simplify]: Simplify (- 0) into 0 17.124 * [backup-simplify]: Simplify (+ 0 0) into 0 17.124 * [backup-simplify]: Simplify (+ 0) into 0 17.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.125 * [backup-simplify]: Simplify (+ 0 0) into 0 17.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.126 * [backup-simplify]: Simplify (+ 0) into 0 17.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.126 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.127 * [backup-simplify]: Simplify (- 0) into 0 17.127 * [backup-simplify]: Simplify (+ 0 0) into 0 17.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 17.128 * [backup-simplify]: Simplify (+ 0) into 0 17.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.128 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.129 * [backup-simplify]: Simplify (+ 0 0) into 0 17.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.130 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.131 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0 17.131 * [backup-simplify]: Simplify (+ 0) into 0 17.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.132 * [backup-simplify]: Simplify (- 0) into 0 17.133 * [backup-simplify]: Simplify (+ 0 0) into 0 17.133 * [backup-simplify]: Simplify (+ 0) into 0 17.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.133 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.134 * [backup-simplify]: Simplify (+ 0 0) into 0 17.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.135 * [backup-simplify]: Simplify (+ 0) into 0 17.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.136 * [backup-simplify]: Simplify (+ 0 0) into 0 17.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 17.136 * [backup-simplify]: Simplify (+ 0) into 0 17.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.138 * [backup-simplify]: Simplify (- 0) into 0 17.139 * [backup-simplify]: Simplify (+ 0 0) into 0 17.139 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.139 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.140 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (/ 0 1)))) into 0 17.140 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.141 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.141 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.141 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.141 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.142 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.142 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 17.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 0) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) 17.143 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 17.144 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 17.145 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.146 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 17.146 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 17.146 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.146 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.146 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.146 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.146 * [backup-simplify]: Simplify -0.5 into -0.5 17.146 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.146 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.146 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.146 * [backup-simplify]: Simplify phi1 into phi1 17.146 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.146 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.146 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.146 * [backup-simplify]: Simplify phi2 into phi2 17.146 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.146 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.146 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.146 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.146 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.146 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.146 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.147 * [backup-simplify]: Simplify (- 0) into 0 17.147 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.147 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.147 * [backup-simplify]: Simplify 0 into 0 17.147 * [backup-simplify]: Simplify 1 into 1 17.147 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.147 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.147 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.148 * [backup-simplify]: Simplify (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (- (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.148 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* -1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.148 * [taylor]: Taking taylor expansion of 0 in lambda2 17.148 * [backup-simplify]: Simplify 0 into 0 17.148 * [taylor]: Taking taylor expansion of 0 in lambda2 17.148 * [backup-simplify]: Simplify 0 into 0 17.149 * [taylor]: Taking taylor expansion of 0 in lambda1 17.149 * [backup-simplify]: Simplify 0 into 0 17.149 * [taylor]: Taking taylor expansion of 0 in lambda1 17.149 * [backup-simplify]: Simplify 0 into 0 17.149 * [taylor]: Taking taylor expansion of 0 in lambda1 17.149 * [backup-simplify]: Simplify 0 into 0 17.149 * [taylor]: Taking taylor expansion of 0 in lambda1 17.149 * [backup-simplify]: Simplify 0 into 0 17.149 * [backup-simplify]: Simplify -1 into -1 17.150 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* (/ 1 (/ 1 (- phi1))) 1)))) (+ (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- lambda2))) (* 1 (/ 1 (- phi2)))))) (* (- (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2)) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- lambda2))) (* (/ 1 (/ 1 (- phi1))) (pow (/ 1 (- phi2)) 2))))))) into (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) phi2) (+ (/ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow phi2 2)) phi1)) 17.150 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 1 2 2 2) 17.150 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 17.150 * [approximate]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in (lambda2 phi1) around 0 17.150 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 17.150 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 17.150 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.150 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.150 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.150 * [backup-simplify]: Simplify 0.5 into 0.5 17.150 * [taylor]: Taking taylor expansion of phi1 in phi1 17.150 * [backup-simplify]: Simplify 0 into 0 17.150 * [backup-simplify]: Simplify 1 into 1 17.151 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.151 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.153 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.153 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.153 * [backup-simplify]: Simplify lambda2 into lambda2 17.153 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 17.153 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 17.153 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 17.153 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.153 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.153 * [backup-simplify]: Simplify 0.5 into 0.5 17.153 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.153 * [backup-simplify]: Simplify phi1 into phi1 17.153 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.153 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.153 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.153 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.153 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.153 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.154 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.154 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.154 * [backup-simplify]: Simplify 0 into 0 17.154 * [backup-simplify]: Simplify 1 into 1 17.154 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 17.154 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 17.154 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 17.154 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.154 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.154 * [backup-simplify]: Simplify 0.5 into 0.5 17.154 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.154 * [backup-simplify]: Simplify phi1 into phi1 17.154 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.154 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.154 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.154 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.154 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.154 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.154 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.154 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.154 * [backup-simplify]: Simplify 0 into 0 17.154 * [backup-simplify]: Simplify 1 into 1 17.154 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 17.154 * [backup-simplify]: Simplify (* 1 1) into 1 17.155 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) 1) into (pow (sin (* 0.5 phi1)) 2) 17.155 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 17.155 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.155 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.155 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.155 * [backup-simplify]: Simplify 0.5 into 0.5 17.155 * [taylor]: Taking taylor expansion of phi1 in phi1 17.155 * [backup-simplify]: Simplify 0 into 0 17.155 * [backup-simplify]: Simplify 1 into 1 17.155 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.156 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.157 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 17.158 * [backup-simplify]: Simplify 0.25 into 0.25 17.158 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.158 * [backup-simplify]: Simplify (+ 0) into 0 17.158 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 17.159 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 17.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.160 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 17.160 * [backup-simplify]: Simplify (+ 0 0) into 0 17.160 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 17.160 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 1)) into 0 17.160 * [taylor]: Taking taylor expansion of 0 in phi1 17.160 * [backup-simplify]: Simplify 0 into 0 17.160 * [backup-simplify]: Simplify 0 into 0 17.161 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 17.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.162 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 0.5)) into 0 17.162 * [backup-simplify]: Simplify 0 into 0 17.162 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.163 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.164 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 17.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.164 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.165 * [backup-simplify]: Simplify (+ 0 0) into 0 17.165 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0 17.166 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 1))) into 0 17.166 * [taylor]: Taking taylor expansion of 0 in phi1 17.166 * [backup-simplify]: Simplify 0 into 0 17.166 * [backup-simplify]: Simplify 0 into 0 17.166 * [backup-simplify]: Simplify 0 into 0 17.166 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 17.169 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 17.171 * [backup-simplify]: Simplify (+ (* 0.5 (- 0.020833333333333332)) (+ (* 0 0) (* (- 0.020833333333333332) 0.5))) into (- 0.020833333333333332) 17.171 * [backup-simplify]: Simplify (- 0.020833333333333332) into (- 0.020833333333333332) 17.172 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 17.172 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 17.173 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 17.174 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi1)))) into 0 17.174 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 17.175 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 17.175 * [backup-simplify]: Simplify (+ 0 0) into 0 17.176 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1)))))) into 0 17.176 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 17.176 * [taylor]: Taking taylor expansion of 0 in phi1 17.176 * [backup-simplify]: Simplify 0 into 0 17.176 * [backup-simplify]: Simplify 0 into 0 17.176 * [backup-simplify]: Simplify 0 into 0 17.176 * [backup-simplify]: Simplify 0 into 0 17.177 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 1) (* 0 0))))) into 0 17.178 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0.5 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 17.179 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 (- 0.020833333333333332)) (+ (* (- 0.020833333333333332) 0) (* 0 0.5)))) into 0 17.179 * [backup-simplify]: Simplify 0 into 0 17.179 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 1))))) into 0 17.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 4) 24)) 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) (* -1 (/ (pow 0 2) 2)) 0) into 0 17.182 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 1))))) into 0 17.183 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi1))))) into 0 17.183 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 17.184 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 0))))) into 0 17.184 * [backup-simplify]: Simplify (+ 0 0) into 0 17.185 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))))) into 0 17.185 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 1))))) into 0 17.185 * [taylor]: Taking taylor expansion of 0 in phi1 17.185 * [backup-simplify]: Simplify 0 into 0 17.185 * [backup-simplify]: Simplify 0 into 0 17.186 * [backup-simplify]: Simplify 0 into 0 17.186 * [backup-simplify]: Simplify (+ (* (- 0.020833333333333332) (pow (* (pow phi1 2) lambda2) 2)) (* 0.25 (pow (* phi1 lambda2) 2))) into (- (* 0.25 (* (pow lambda2 2) (pow phi1 2))) (* 0.020833333333333332 (* (pow lambda2 2) (pow phi1 4)))) 17.186 * [backup-simplify]: Simplify (* (pow (/ 1 lambda2) 2) (pow (sin (* 0.5 (/ 1 phi1))) 2)) into (/ (pow (sin (/ 0.5 phi1)) 2) (pow lambda2 2)) 17.186 * [approximate]: Taking taylor expansion of (/ (pow (sin (/ 0.5 phi1)) 2) (pow lambda2 2)) in (lambda2 phi1) around 0 17.186 * [taylor]: Taking taylor expansion of (/ (pow (sin (/ 0.5 phi1)) 2) (pow lambda2 2)) in phi1 17.186 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 17.186 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 17.186 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.186 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.186 * [backup-simplify]: Simplify 0.5 into 0.5 17.186 * [taylor]: Taking taylor expansion of phi1 in phi1 17.187 * [backup-simplify]: Simplify 0 into 0 17.187 * [backup-simplify]: Simplify 1 into 1 17.187 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.187 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.187 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.187 * [backup-simplify]: Simplify lambda2 into lambda2 17.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.187 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.187 * [backup-simplify]: Simplify (/ (pow (sin (/ 0.5 phi1)) 2) (pow lambda2 2)) into (/ (pow (sin (/ 0.5 phi1)) 2) (pow lambda2 2)) 17.187 * [taylor]: Taking taylor expansion of (/ (pow (sin (/ 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 17.187 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.187 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.187 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.187 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.187 * [backup-simplify]: Simplify 0.5 into 0.5 17.187 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.187 * [backup-simplify]: Simplify phi1 into phi1 17.187 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.187 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.188 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.188 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.188 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.188 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.188 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.188 * [backup-simplify]: Simplify 0 into 0 17.188 * [backup-simplify]: Simplify 1 into 1 17.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.188 * [backup-simplify]: Simplify (* 1 1) into 1 17.188 * [backup-simplify]: Simplify (/ (pow (sin (/ 0.5 phi1)) 2) 1) into (pow (sin (/ 0.5 phi1)) 2) 17.188 * [taylor]: Taking taylor expansion of (/ (pow (sin (/ 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 17.188 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.188 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.188 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.188 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.188 * [backup-simplify]: Simplify 0.5 into 0.5 17.188 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.188 * [backup-simplify]: Simplify phi1 into phi1 17.188 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.188 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.189 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.189 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.189 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.189 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.189 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.189 * [backup-simplify]: Simplify 0 into 0 17.189 * [backup-simplify]: Simplify 1 into 1 17.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.189 * [backup-simplify]: Simplify (* 1 1) into 1 17.189 * [backup-simplify]: Simplify (/ (pow (sin (/ 0.5 phi1)) 2) 1) into (pow (sin (/ 0.5 phi1)) 2) 17.189 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 17.189 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 17.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.189 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.189 * [backup-simplify]: Simplify 0.5 into 0.5 17.189 * [taylor]: Taking taylor expansion of phi1 in phi1 17.189 * [backup-simplify]: Simplify 0 into 0 17.189 * [backup-simplify]: Simplify 1 into 1 17.190 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.190 * [backup-simplify]: Simplify (pow (sin (/ 0.5 phi1)) 2) into (pow (sin (/ 0.5 phi1)) 2) 17.190 * [backup-simplify]: Simplify (+ 0) into 0 17.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.191 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.191 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.192 * [backup-simplify]: Simplify (+ 0 0) into 0 17.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.192 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.193 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (sin (/ 0.5 phi1)) 2) (/ 0 1)))) into 0 17.193 * [taylor]: Taking taylor expansion of 0 in phi1 17.193 * [backup-simplify]: Simplify 0 into 0 17.193 * [backup-simplify]: Simplify 0 into 0 17.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.193 * [backup-simplify]: Simplify 0 into 0 17.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.194 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.195 * [backup-simplify]: Simplify (+ 0 0) into 0 17.195 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.196 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.197 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (sin (/ 0.5 phi1)) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.197 * [taylor]: Taking taylor expansion of 0 in phi1 17.197 * [backup-simplify]: Simplify 0 into 0 17.197 * [backup-simplify]: Simplify 0 into 0 17.197 * [backup-simplify]: Simplify 0 into 0 17.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.197 * [backup-simplify]: Simplify 0 into 0 17.198 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 17.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 17.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 17.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 17.200 * [backup-simplify]: Simplify (+ 0 0) into 0 17.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0 17.201 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 17.202 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (sin (/ 0.5 phi1)) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.202 * [taylor]: Taking taylor expansion of 0 in phi1 17.202 * [backup-simplify]: Simplify 0 into 0 17.203 * [backup-simplify]: Simplify 0 into 0 17.203 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (* 1 (/ 1 (/ 1 lambda2))) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 17.203 * [backup-simplify]: Simplify (* (pow (/ 1 (- lambda2)) 2) (pow (sin (* 0.5 (/ 1 (- phi1)))) 2)) into (/ (pow (sin (/ -0.5 phi1)) 2) (pow lambda2 2)) 17.203 * [approximate]: Taking taylor expansion of (/ (pow (sin (/ -0.5 phi1)) 2) (pow lambda2 2)) in (lambda2 phi1) around 0 17.203 * [taylor]: Taking taylor expansion of (/ (pow (sin (/ -0.5 phi1)) 2) (pow lambda2 2)) in phi1 17.203 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.203 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.203 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.203 * [backup-simplify]: Simplify -0.5 into -0.5 17.203 * [taylor]: Taking taylor expansion of phi1 in phi1 17.203 * [backup-simplify]: Simplify 0 into 0 17.203 * [backup-simplify]: Simplify 1 into 1 17.203 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.204 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.204 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.204 * [backup-simplify]: Simplify lambda2 into lambda2 17.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.204 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.204 * [backup-simplify]: Simplify (/ (pow (sin (/ -0.5 phi1)) 2) (pow lambda2 2)) into (/ (pow (sin (/ -0.5 phi1)) 2) (pow lambda2 2)) 17.204 * [taylor]: Taking taylor expansion of (/ (pow (sin (/ -0.5 phi1)) 2) (pow lambda2 2)) in lambda2 17.204 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.204 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.204 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.204 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.204 * [backup-simplify]: Simplify -0.5 into -0.5 17.204 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.204 * [backup-simplify]: Simplify phi1 into phi1 17.204 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.204 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.204 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.204 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.204 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.204 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.204 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.204 * [backup-simplify]: Simplify 0 into 0 17.204 * [backup-simplify]: Simplify 1 into 1 17.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.205 * [backup-simplify]: Simplify (* 1 1) into 1 17.205 * [backup-simplify]: Simplify (/ (pow (sin (/ -0.5 phi1)) 2) 1) into (pow (sin (/ -0.5 phi1)) 2) 17.205 * [taylor]: Taking taylor expansion of (/ (pow (sin (/ -0.5 phi1)) 2) (pow lambda2 2)) in lambda2 17.205 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.205 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.205 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.205 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.205 * [backup-simplify]: Simplify -0.5 into -0.5 17.205 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.205 * [backup-simplify]: Simplify phi1 into phi1 17.205 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.205 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.205 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.205 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.205 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.205 * [backup-simplify]: Simplify 0 into 0 17.205 * [backup-simplify]: Simplify 1 into 1 17.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.206 * [backup-simplify]: Simplify (* 1 1) into 1 17.206 * [backup-simplify]: Simplify (/ (pow (sin (/ -0.5 phi1)) 2) 1) into (pow (sin (/ -0.5 phi1)) 2) 17.206 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.206 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.206 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.206 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.206 * [backup-simplify]: Simplify -0.5 into -0.5 17.206 * [taylor]: Taking taylor expansion of phi1 in phi1 17.206 * [backup-simplify]: Simplify 0 into 0 17.206 * [backup-simplify]: Simplify 1 into 1 17.206 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.206 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.207 * [backup-simplify]: Simplify (pow (sin (/ -0.5 phi1)) 2) into (pow (sin (/ -0.5 phi1)) 2) 17.207 * [backup-simplify]: Simplify (+ 0) into 0 17.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.208 * [backup-simplify]: Simplify (+ 0 0) into 0 17.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.209 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.209 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (sin (/ -0.5 phi1)) 2) (/ 0 1)))) into 0 17.209 * [taylor]: Taking taylor expansion of 0 in phi1 17.209 * [backup-simplify]: Simplify 0 into 0 17.209 * [backup-simplify]: Simplify 0 into 0 17.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.210 * [backup-simplify]: Simplify 0 into 0 17.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.211 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.211 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.212 * [backup-simplify]: Simplify (+ 0 0) into 0 17.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.213 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.219 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (sin (/ -0.5 phi1)) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.219 * [taylor]: Taking taylor expansion of 0 in phi1 17.219 * [backup-simplify]: Simplify 0 into 0 17.219 * [backup-simplify]: Simplify 0 into 0 17.219 * [backup-simplify]: Simplify 0 into 0 17.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.219 * [backup-simplify]: Simplify 0 into 0 17.220 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 17.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 17.220 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 17.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 17.222 * [backup-simplify]: Simplify (+ 0 0) into 0 17.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 17.223 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 17.224 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (sin (/ -0.5 phi1)) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.224 * [taylor]: Taking taylor expansion of 0 in phi1 17.224 * [backup-simplify]: Simplify 0 into 0 17.224 * [backup-simplify]: Simplify 0 into 0 17.225 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2) (pow (* 1 (/ 1 (/ 1 (- lambda2)))) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 17.225 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1) 17.227 * [backup-simplify]: Simplify (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) 17.227 * [approximate]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) in (phi2 phi1 lambda2 lambda1) around 0 17.227 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) in lambda1 17.227 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda1 17.227 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1 17.228 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1 17.228 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 17.228 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 17.228 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.228 * [backup-simplify]: Simplify 0.5 into 0.5 17.228 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.228 * [backup-simplify]: Simplify phi2 into phi2 17.228 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.228 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.228 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.228 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 17.228 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 17.228 * [backup-simplify]: Simplify (- 0) into 0 17.228 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 17.228 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1 17.228 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1 17.228 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 17.228 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 17.228 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.228 * [backup-simplify]: Simplify 0.5 into 0.5 17.228 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.228 * [backup-simplify]: Simplify phi1 into phi1 17.228 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.229 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.229 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.229 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.229 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.229 * [backup-simplify]: Simplify (- 0) into 0 17.229 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.229 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.229 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.229 * [backup-simplify]: Simplify lambda2 into lambda2 17.229 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda1 17.229 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1 17.229 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 17.229 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 17.229 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 17.229 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.229 * [backup-simplify]: Simplify 0.5 into 0.5 17.229 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 17.229 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.229 * [backup-simplify]: Simplify phi2 into phi2 17.229 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.229 * [backup-simplify]: Simplify phi1 into phi1 17.229 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 17.229 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 17.230 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 17.230 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 17.230 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 17.230 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 17.230 * [backup-simplify]: Simplify (- 0) into 0 17.230 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 17.230 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.230 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.230 * [backup-simplify]: Simplify 0 into 0 17.230 * [backup-simplify]: Simplify 1 into 1 17.230 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1 17.230 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1 17.230 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 17.230 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 17.230 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.230 * [backup-simplify]: Simplify 0.5 into 0.5 17.230 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.230 * [backup-simplify]: Simplify phi2 into phi2 17.230 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.230 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.230 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.231 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 17.231 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 17.231 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 17.231 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1 17.231 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.231 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.231 * [backup-simplify]: Simplify lambda2 into lambda2 17.231 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1 17.231 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 17.231 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 17.231 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.231 * [backup-simplify]: Simplify 0.5 into 0.5 17.231 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.231 * [backup-simplify]: Simplify phi1 into phi1 17.231 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.231 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.231 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.231 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.231 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.231 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.232 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) in lambda1 17.232 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1 17.232 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 17.232 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 17.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.232 * [backup-simplify]: Simplify 0.5 into 0.5 17.232 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.232 * [backup-simplify]: Simplify phi1 into phi1 17.232 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.232 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.232 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.232 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1 17.232 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 17.232 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 17.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.232 * [backup-simplify]: Simplify 0.5 into 0.5 17.232 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.232 * [backup-simplify]: Simplify phi2 into phi2 17.232 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.232 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.232 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.232 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1 17.232 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 17.232 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 17.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.232 * [backup-simplify]: Simplify 0.5 into 0.5 17.232 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.232 * [backup-simplify]: Simplify phi2 into phi2 17.232 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.232 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.232 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.232 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1 17.232 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 17.232 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 17.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.232 * [backup-simplify]: Simplify 0.5 into 0.5 17.232 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.232 * [backup-simplify]: Simplify phi1 into phi1 17.232 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.233 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.233 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.233 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.233 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.233 * [backup-simplify]: Simplify lambda2 into lambda2 17.233 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) in lambda1 17.233 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1 17.233 * [taylor]: Taking taylor expansion of 2 in lambda1 17.233 * [backup-simplify]: Simplify 2 into 2 17.233 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1 17.233 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.233 * [backup-simplify]: Simplify lambda2 into lambda2 17.233 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1 17.233 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1 17.233 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 17.233 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 17.233 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.233 * [backup-simplify]: Simplify 0.5 into 0.5 17.233 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 17.233 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.233 * [backup-simplify]: Simplify phi2 into phi2 17.233 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.233 * [backup-simplify]: Simplify phi1 into phi1 17.233 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 17.233 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 17.233 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 17.233 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 17.233 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 17.233 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 17.234 * [backup-simplify]: Simplify (- 0) into 0 17.234 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 17.234 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.234 * [backup-simplify]: Simplify 0 into 0 17.234 * [backup-simplify]: Simplify 1 into 1 17.234 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in lambda1 17.234 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 17.234 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 17.234 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.234 * [backup-simplify]: Simplify 0.5 into 0.5 17.234 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.234 * [backup-simplify]: Simplify phi2 into phi2 17.234 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.234 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.234 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.234 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in lambda1 17.234 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 17.234 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 17.234 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.234 * [backup-simplify]: Simplify 0.5 into 0.5 17.234 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.234 * [backup-simplify]: Simplify phi1 into phi1 17.234 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.234 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.234 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.235 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in lambda1 17.235 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 17.235 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 17.235 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.235 * [backup-simplify]: Simplify 0.5 into 0.5 17.235 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.235 * [backup-simplify]: Simplify phi1 into phi1 17.235 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.235 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.235 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.235 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in lambda1 17.235 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 17.235 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 17.235 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.235 * [backup-simplify]: Simplify 0.5 into 0.5 17.235 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.235 * [backup-simplify]: Simplify phi2 into phi2 17.235 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.235 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.235 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.235 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.235 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.235 * [backup-simplify]: Simplify lambda2 into lambda2 17.235 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) in lambda2 17.235 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 17.235 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 17.235 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 17.235 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 17.235 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 17.235 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.235 * [backup-simplify]: Simplify 0.5 into 0.5 17.235 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.235 * [backup-simplify]: Simplify phi2 into phi2 17.235 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.235 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.235 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.236 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 17.236 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 17.236 * [backup-simplify]: Simplify (- 0) into 0 17.236 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 17.236 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 17.236 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 17.236 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 17.236 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.236 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.236 * [backup-simplify]: Simplify 0.5 into 0.5 17.236 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.236 * [backup-simplify]: Simplify phi1 into phi1 17.236 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.236 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.236 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.236 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.236 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.237 * [backup-simplify]: Simplify (- 0) into 0 17.237 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.237 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.237 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.237 * [backup-simplify]: Simplify 0 into 0 17.237 * [backup-simplify]: Simplify 1 into 1 17.237 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 17.237 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2 17.237 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 17.237 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 17.237 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 17.237 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.237 * [backup-simplify]: Simplify 0.5 into 0.5 17.237 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 17.237 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.237 * [backup-simplify]: Simplify phi2 into phi2 17.237 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.237 * [backup-simplify]: Simplify phi1 into phi1 17.237 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 17.237 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 17.237 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 17.237 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 17.237 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 17.238 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 17.238 * [backup-simplify]: Simplify (- 0) into 0 17.238 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 17.238 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.238 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.238 * [backup-simplify]: Simplify lambda1 into lambda1 17.238 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 17.238 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 17.238 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 17.238 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 17.238 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.238 * [backup-simplify]: Simplify 0.5 into 0.5 17.238 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.238 * [backup-simplify]: Simplify phi2 into phi2 17.238 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.238 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.238 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.238 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 17.238 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 17.239 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 17.239 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 17.239 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.239 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.239 * [backup-simplify]: Simplify 0 into 0 17.239 * [backup-simplify]: Simplify 1 into 1 17.239 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 17.239 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 17.239 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.239 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.239 * [backup-simplify]: Simplify 0.5 into 0.5 17.239 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.239 * [backup-simplify]: Simplify phi1 into phi1 17.239 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.239 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.239 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.239 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.239 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.239 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.239 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) in lambda2 17.239 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2 17.239 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 17.239 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.239 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.239 * [backup-simplify]: Simplify 0.5 into 0.5 17.239 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.239 * [backup-simplify]: Simplify phi1 into phi1 17.239 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.239 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.239 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.239 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 17.239 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 17.239 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 17.239 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.240 * [backup-simplify]: Simplify 0.5 into 0.5 17.240 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.240 * [backup-simplify]: Simplify phi2 into phi2 17.240 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.240 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.240 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.240 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 17.240 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 17.240 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 17.240 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.240 * [backup-simplify]: Simplify 0.5 into 0.5 17.240 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.240 * [backup-simplify]: Simplify phi2 into phi2 17.240 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.240 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.240 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.240 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 17.240 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 17.240 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.240 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.240 * [backup-simplify]: Simplify 0.5 into 0.5 17.240 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.240 * [backup-simplify]: Simplify phi1 into phi1 17.240 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.240 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.240 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.240 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.240 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.240 * [backup-simplify]: Simplify 0 into 0 17.240 * [backup-simplify]: Simplify 1 into 1 17.240 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) in lambda2 17.240 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2 17.240 * [taylor]: Taking taylor expansion of 2 in lambda2 17.240 * [backup-simplify]: Simplify 2 into 2 17.240 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2 17.240 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.240 * [backup-simplify]: Simplify 0 into 0 17.240 * [backup-simplify]: Simplify 1 into 1 17.240 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2 17.240 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 17.240 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 17.240 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 17.241 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.241 * [backup-simplify]: Simplify 0.5 into 0.5 17.241 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 17.241 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.241 * [backup-simplify]: Simplify phi2 into phi2 17.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.241 * [backup-simplify]: Simplify phi1 into phi1 17.241 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 17.241 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 17.241 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 17.241 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 17.241 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 17.241 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 17.241 * [backup-simplify]: Simplify (- 0) into 0 17.241 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 17.241 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.241 * [backup-simplify]: Simplify lambda1 into lambda1 17.242 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in lambda2 17.242 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 17.242 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 17.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.242 * [backup-simplify]: Simplify 0.5 into 0.5 17.242 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.242 * [backup-simplify]: Simplify phi2 into phi2 17.242 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.242 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.242 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.242 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in lambda2 17.242 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 17.242 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.242 * [backup-simplify]: Simplify 0.5 into 0.5 17.242 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.242 * [backup-simplify]: Simplify phi1 into phi1 17.242 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.242 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.242 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.242 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in lambda2 17.242 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 17.242 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.242 * [backup-simplify]: Simplify 0.5 into 0.5 17.242 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.242 * [backup-simplify]: Simplify phi1 into phi1 17.242 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.242 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.242 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.242 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in lambda2 17.242 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 17.242 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 17.242 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.242 * [backup-simplify]: Simplify 0.5 into 0.5 17.242 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.242 * [backup-simplify]: Simplify phi2 into phi2 17.242 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.242 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.243 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.243 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.243 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.243 * [backup-simplify]: Simplify 0 into 0 17.243 * [backup-simplify]: Simplify 1 into 1 17.243 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) in phi1 17.243 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi1 17.243 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 17.243 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 17.243 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 17.243 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.243 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.243 * [backup-simplify]: Simplify 0.5 into 0.5 17.243 * [taylor]: Taking taylor expansion of phi2 in phi1 17.243 * [backup-simplify]: Simplify phi2 into phi2 17.243 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.243 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.243 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.243 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 17.243 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 17.243 * [backup-simplify]: Simplify (- 0) into 0 17.243 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 17.243 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 17.244 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.244 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.244 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.244 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.244 * [backup-simplify]: Simplify 0.5 into 0.5 17.244 * [taylor]: Taking taylor expansion of phi1 in phi1 17.244 * [backup-simplify]: Simplify 0 into 0 17.244 * [backup-simplify]: Simplify 1 into 1 17.244 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.245 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.245 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.245 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.245 * [backup-simplify]: Simplify lambda2 into lambda2 17.245 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi1 17.245 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1 17.245 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 17.245 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 17.245 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 17.245 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.245 * [backup-simplify]: Simplify 0.5 into 0.5 17.245 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 17.245 * [taylor]: Taking taylor expansion of phi2 in phi1 17.245 * [backup-simplify]: Simplify phi2 into phi2 17.245 * [taylor]: Taking taylor expansion of phi1 in phi1 17.245 * [backup-simplify]: Simplify 0 into 0 17.245 * [backup-simplify]: Simplify 1 into 1 17.245 * [backup-simplify]: Simplify (+ phi2 0) into phi2 17.245 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.245 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.245 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.245 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 17.246 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 17.246 * [backup-simplify]: Simplify (- 0) into 0 17.246 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 17.246 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.246 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.246 * [backup-simplify]: Simplify lambda1 into lambda1 17.246 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 17.246 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 17.246 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 17.246 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.246 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.246 * [backup-simplify]: Simplify 0.5 into 0.5 17.246 * [taylor]: Taking taylor expansion of phi2 in phi1 17.246 * [backup-simplify]: Simplify phi2 into phi2 17.246 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.246 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.246 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.246 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 17.246 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 17.247 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 17.247 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 17.247 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.247 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.247 * [backup-simplify]: Simplify lambda2 into lambda2 17.247 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 17.247 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.247 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.247 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.247 * [backup-simplify]: Simplify 0.5 into 0.5 17.247 * [taylor]: Taking taylor expansion of phi1 in phi1 17.247 * [backup-simplify]: Simplify 0 into 0 17.247 * [backup-simplify]: Simplify 1 into 1 17.247 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.248 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.250 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) in phi1 17.250 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1 17.250 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.250 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.250 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.250 * [backup-simplify]: Simplify 0.5 into 0.5 17.250 * [taylor]: Taking taylor expansion of phi1 in phi1 17.250 * [backup-simplify]: Simplify 0 into 0 17.250 * [backup-simplify]: Simplify 1 into 1 17.250 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.251 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.251 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 17.251 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 17.251 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.251 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.251 * [backup-simplify]: Simplify 0.5 into 0.5 17.251 * [taylor]: Taking taylor expansion of phi2 in phi1 17.251 * [backup-simplify]: Simplify phi2 into phi2 17.251 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.251 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.252 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.252 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 17.252 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 17.252 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.252 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.252 * [backup-simplify]: Simplify 0.5 into 0.5 17.252 * [taylor]: Taking taylor expansion of phi2 in phi1 17.252 * [backup-simplify]: Simplify phi2 into phi2 17.252 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.252 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.252 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.252 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 17.252 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.252 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.252 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.252 * [backup-simplify]: Simplify 0.5 into 0.5 17.252 * [taylor]: Taking taylor expansion of phi1 in phi1 17.252 * [backup-simplify]: Simplify 0 into 0 17.252 * [backup-simplify]: Simplify 1 into 1 17.252 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.253 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.253 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.253 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.253 * [backup-simplify]: Simplify lambda2 into lambda2 17.253 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) in phi1 17.253 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1 17.253 * [taylor]: Taking taylor expansion of 2 in phi1 17.253 * [backup-simplify]: Simplify 2 into 2 17.253 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1 17.253 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.253 * [backup-simplify]: Simplify lambda2 into lambda2 17.253 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1 17.253 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 17.253 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 17.253 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 17.253 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.253 * [backup-simplify]: Simplify 0.5 into 0.5 17.253 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 17.253 * [taylor]: Taking taylor expansion of phi2 in phi1 17.253 * [backup-simplify]: Simplify phi2 into phi2 17.253 * [taylor]: Taking taylor expansion of phi1 in phi1 17.253 * [backup-simplify]: Simplify 0 into 0 17.254 * [backup-simplify]: Simplify 1 into 1 17.254 * [backup-simplify]: Simplify (+ phi2 0) into phi2 17.254 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.254 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.254 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.254 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 17.254 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 17.254 * [backup-simplify]: Simplify (- 0) into 0 17.254 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 17.254 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.254 * [backup-simplify]: Simplify lambda1 into lambda1 17.254 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in phi1 17.254 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 17.254 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.254 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.254 * [backup-simplify]: Simplify 0.5 into 0.5 17.254 * [taylor]: Taking taylor expansion of phi2 in phi1 17.254 * [backup-simplify]: Simplify phi2 into phi2 17.254 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.254 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.254 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.254 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in phi1 17.254 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.255 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.255 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.255 * [backup-simplify]: Simplify 0.5 into 0.5 17.255 * [taylor]: Taking taylor expansion of phi1 in phi1 17.255 * [backup-simplify]: Simplify 0 into 0 17.255 * [backup-simplify]: Simplify 1 into 1 17.255 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.256 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.256 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in phi1 17.256 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.256 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.256 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.256 * [backup-simplify]: Simplify 0.5 into 0.5 17.256 * [taylor]: Taking taylor expansion of phi1 in phi1 17.256 * [backup-simplify]: Simplify 0 into 0 17.256 * [backup-simplify]: Simplify 1 into 1 17.256 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.257 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.257 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in phi1 17.257 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 17.257 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.257 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.257 * [backup-simplify]: Simplify 0.5 into 0.5 17.257 * [taylor]: Taking taylor expansion of phi2 in phi1 17.258 * [backup-simplify]: Simplify phi2 into phi2 17.258 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.258 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.258 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.258 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.258 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.258 * [backup-simplify]: Simplify lambda2 into lambda2 17.258 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) in phi2 17.258 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi2 17.258 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 17.258 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 17.258 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.258 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.258 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.258 * [backup-simplify]: Simplify 0.5 into 0.5 17.258 * [taylor]: Taking taylor expansion of phi2 in phi2 17.258 * [backup-simplify]: Simplify 0 into 0 17.258 * [backup-simplify]: Simplify 1 into 1 17.259 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.260 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.260 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 17.260 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 17.260 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.260 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.260 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.260 * [backup-simplify]: Simplify 0.5 into 0.5 17.260 * [taylor]: Taking taylor expansion of phi1 in phi2 17.260 * [backup-simplify]: Simplify phi1 into phi1 17.260 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.261 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.261 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.261 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.261 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.261 * [backup-simplify]: Simplify (- 0) into 0 17.261 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.261 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.261 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.261 * [backup-simplify]: Simplify lambda2 into lambda2 17.261 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi2 17.261 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 17.261 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 17.261 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 17.261 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 17.261 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.261 * [backup-simplify]: Simplify 0.5 into 0.5 17.261 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 17.261 * [taylor]: Taking taylor expansion of phi2 in phi2 17.261 * [backup-simplify]: Simplify 0 into 0 17.261 * [backup-simplify]: Simplify 1 into 1 17.261 * [taylor]: Taking taylor expansion of phi1 in phi2 17.261 * [backup-simplify]: Simplify phi1 into phi1 17.261 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 17.262 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.262 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.262 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.262 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.262 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.262 * [backup-simplify]: Simplify (- 0) into 0 17.262 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.262 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.262 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.262 * [backup-simplify]: Simplify lambda1 into lambda1 17.262 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 17.262 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 17.262 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.262 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.262 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.262 * [backup-simplify]: Simplify 0.5 into 0.5 17.262 * [taylor]: Taking taylor expansion of phi2 in phi2 17.262 * [backup-simplify]: Simplify 0 into 0 17.262 * [backup-simplify]: Simplify 1 into 1 17.263 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.264 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.265 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 17.265 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.265 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.265 * [backup-simplify]: Simplify lambda2 into lambda2 17.265 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 17.266 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.266 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.266 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.266 * [backup-simplify]: Simplify 0.5 into 0.5 17.266 * [taylor]: Taking taylor expansion of phi1 in phi2 17.266 * [backup-simplify]: Simplify phi1 into phi1 17.266 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.266 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.266 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.266 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.266 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.266 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.266 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) in phi2 17.266 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2 17.266 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.266 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.266 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.266 * [backup-simplify]: Simplify 0.5 into 0.5 17.266 * [taylor]: Taking taylor expansion of phi1 in phi2 17.266 * [backup-simplify]: Simplify phi1 into phi1 17.266 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.266 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.266 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.266 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 17.266 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.266 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.266 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.266 * [backup-simplify]: Simplify 0.5 into 0.5 17.266 * [taylor]: Taking taylor expansion of phi2 in phi2 17.266 * [backup-simplify]: Simplify 0 into 0 17.266 * [backup-simplify]: Simplify 1 into 1 17.267 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.268 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.268 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 17.268 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.268 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.268 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.268 * [backup-simplify]: Simplify 0.5 into 0.5 17.268 * [taylor]: Taking taylor expansion of phi2 in phi2 17.268 * [backup-simplify]: Simplify 0 into 0 17.268 * [backup-simplify]: Simplify 1 into 1 17.268 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.270 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.270 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 17.270 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.270 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.270 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.270 * [backup-simplify]: Simplify 0.5 into 0.5 17.270 * [taylor]: Taking taylor expansion of phi1 in phi2 17.270 * [backup-simplify]: Simplify phi1 into phi1 17.270 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.270 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.270 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.270 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.270 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.270 * [backup-simplify]: Simplify lambda2 into lambda2 17.270 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) in phi2 17.270 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 17.270 * [taylor]: Taking taylor expansion of 2 in phi2 17.270 * [backup-simplify]: Simplify 2 into 2 17.270 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 17.271 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.271 * [backup-simplify]: Simplify lambda2 into lambda2 17.271 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 17.271 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 17.271 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 17.271 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 17.271 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.271 * [backup-simplify]: Simplify 0.5 into 0.5 17.271 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 17.271 * [taylor]: Taking taylor expansion of phi2 in phi2 17.271 * [backup-simplify]: Simplify 0 into 0 17.271 * [backup-simplify]: Simplify 1 into 1 17.271 * [taylor]: Taking taylor expansion of phi1 in phi2 17.271 * [backup-simplify]: Simplify phi1 into phi1 17.271 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 17.271 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.271 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.271 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.271 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.271 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.271 * [backup-simplify]: Simplify (- 0) into 0 17.271 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.271 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.272 * [backup-simplify]: Simplify lambda1 into lambda1 17.272 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in phi2 17.272 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.272 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.272 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.272 * [backup-simplify]: Simplify 0.5 into 0.5 17.272 * [taylor]: Taking taylor expansion of phi2 in phi2 17.272 * [backup-simplify]: Simplify 0 into 0 17.272 * [backup-simplify]: Simplify 1 into 1 17.272 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.273 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.273 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in phi2 17.273 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.273 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.273 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.273 * [backup-simplify]: Simplify 0.5 into 0.5 17.273 * [taylor]: Taking taylor expansion of phi1 in phi2 17.273 * [backup-simplify]: Simplify phi1 into phi1 17.273 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.273 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.273 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.273 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in phi2 17.273 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.273 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.273 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.273 * [backup-simplify]: Simplify 0.5 into 0.5 17.273 * [taylor]: Taking taylor expansion of phi1 in phi2 17.273 * [backup-simplify]: Simplify phi1 into phi1 17.273 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.274 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.274 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.274 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in phi2 17.274 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.274 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.274 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.274 * [backup-simplify]: Simplify 0.5 into 0.5 17.274 * [taylor]: Taking taylor expansion of phi2 in phi2 17.274 * [backup-simplify]: Simplify 0 into 0 17.274 * [backup-simplify]: Simplify 1 into 1 17.274 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.275 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.275 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.275 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.275 * [backup-simplify]: Simplify lambda2 into lambda2 17.275 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))) in phi2 17.275 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi2 17.275 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2 17.275 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 17.275 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.275 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.275 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.275 * [backup-simplify]: Simplify 0.5 into 0.5 17.275 * [taylor]: Taking taylor expansion of phi2 in phi2 17.275 * [backup-simplify]: Simplify 0 into 0 17.275 * [backup-simplify]: Simplify 1 into 1 17.276 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.277 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.277 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2 17.277 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 17.277 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.277 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.277 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.277 * [backup-simplify]: Simplify 0.5 into 0.5 17.277 * [taylor]: Taking taylor expansion of phi1 in phi2 17.277 * [backup-simplify]: Simplify phi1 into phi1 17.277 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.277 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.277 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.277 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.277 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.277 * [backup-simplify]: Simplify (- 0) into 0 17.277 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.277 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.277 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.277 * [backup-simplify]: Simplify lambda2 into lambda2 17.277 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi2 17.277 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2 17.277 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 17.277 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 17.277 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 17.277 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.277 * [backup-simplify]: Simplify 0.5 into 0.5 17.277 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 17.277 * [taylor]: Taking taylor expansion of phi2 in phi2 17.277 * [backup-simplify]: Simplify 0 into 0 17.278 * [backup-simplify]: Simplify 1 into 1 17.278 * [taylor]: Taking taylor expansion of phi1 in phi2 17.278 * [backup-simplify]: Simplify phi1 into phi1 17.278 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 17.278 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.278 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.278 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.278 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.278 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.278 * [backup-simplify]: Simplify (- 0) into 0 17.278 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.278 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.278 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.278 * [backup-simplify]: Simplify lambda1 into lambda1 17.278 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 17.278 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 17.278 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.278 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.278 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.278 * [backup-simplify]: Simplify 0.5 into 0.5 17.278 * [taylor]: Taking taylor expansion of phi2 in phi2 17.278 * [backup-simplify]: Simplify 0 into 0 17.278 * [backup-simplify]: Simplify 1 into 1 17.279 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.279 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.281 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.281 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 17.281 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.281 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.281 * [backup-simplify]: Simplify lambda2 into lambda2 17.281 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 17.281 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.281 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.281 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.281 * [backup-simplify]: Simplify 0.5 into 0.5 17.281 * [taylor]: Taking taylor expansion of phi1 in phi2 17.281 * [backup-simplify]: Simplify phi1 into phi1 17.281 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.281 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.281 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.282 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.282 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.282 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.282 * [taylor]: Taking taylor expansion of (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) in phi2 17.282 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2 17.282 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.282 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.282 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.282 * [backup-simplify]: Simplify 0.5 into 0.5 17.282 * [taylor]: Taking taylor expansion of phi1 in phi2 17.282 * [backup-simplify]: Simplify phi1 into phi1 17.282 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.282 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.282 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.282 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2 17.282 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.282 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.282 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.282 * [backup-simplify]: Simplify 0.5 into 0.5 17.282 * [taylor]: Taking taylor expansion of phi2 in phi2 17.282 * [backup-simplify]: Simplify 0 into 0 17.282 * [backup-simplify]: Simplify 1 into 1 17.282 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.283 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.283 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2 17.283 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.283 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.283 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.283 * [backup-simplify]: Simplify 0.5 into 0.5 17.283 * [taylor]: Taking taylor expansion of phi2 in phi2 17.283 * [backup-simplify]: Simplify 0 into 0 17.283 * [backup-simplify]: Simplify 1 into 1 17.284 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.284 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.284 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2 17.285 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.285 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.285 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.285 * [backup-simplify]: Simplify 0.5 into 0.5 17.285 * [taylor]: Taking taylor expansion of phi1 in phi2 17.285 * [backup-simplify]: Simplify phi1 into phi1 17.285 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.285 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.285 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.285 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.285 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.285 * [backup-simplify]: Simplify lambda2 into lambda2 17.285 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) in phi2 17.285 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2 17.285 * [taylor]: Taking taylor expansion of 2 in phi2 17.285 * [backup-simplify]: Simplify 2 into 2 17.285 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2 17.285 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.285 * [backup-simplify]: Simplify lambda2 into lambda2 17.285 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2 17.285 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 17.285 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 17.285 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 17.285 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.285 * [backup-simplify]: Simplify 0.5 into 0.5 17.285 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 17.285 * [taylor]: Taking taylor expansion of phi2 in phi2 17.285 * [backup-simplify]: Simplify 0 into 0 17.285 * [backup-simplify]: Simplify 1 into 1 17.285 * [taylor]: Taking taylor expansion of phi1 in phi2 17.285 * [backup-simplify]: Simplify phi1 into phi1 17.285 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 17.285 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.285 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.285 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.285 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.285 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.286 * [backup-simplify]: Simplify (- 0) into 0 17.286 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.286 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.286 * [backup-simplify]: Simplify lambda1 into lambda1 17.286 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) in phi2 17.286 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 17.286 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.286 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.286 * [backup-simplify]: Simplify 0.5 into 0.5 17.286 * [taylor]: Taking taylor expansion of phi2 in phi2 17.286 * [backup-simplify]: Simplify 0 into 0 17.286 * [backup-simplify]: Simplify 1 into 1 17.286 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.287 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.287 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) in phi2 17.287 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 17.287 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.287 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.287 * [backup-simplify]: Simplify 0.5 into 0.5 17.287 * [taylor]: Taking taylor expansion of phi1 in phi2 17.287 * [backup-simplify]: Simplify phi1 into phi1 17.287 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.287 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.287 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.287 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))) in phi2 17.287 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 17.287 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 17.287 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.287 * [backup-simplify]: Simplify 0.5 into 0.5 17.287 * [taylor]: Taking taylor expansion of phi1 in phi2 17.287 * [backup-simplify]: Simplify phi1 into phi1 17.287 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.287 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.287 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.288 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (pow lambda2 2)) in phi2 17.288 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.288 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.288 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.288 * [backup-simplify]: Simplify 0.5 into 0.5 17.288 * [taylor]: Taking taylor expansion of phi2 in phi2 17.288 * [backup-simplify]: Simplify 0 into 0 17.288 * [backup-simplify]: Simplify 1 into 1 17.288 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.289 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.289 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.289 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.289 * [backup-simplify]: Simplify lambda2 into lambda2 17.289 * [backup-simplify]: Simplify (* 1 1) into 1 17.289 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 17.289 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.289 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 17.290 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) 17.290 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 17.290 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.290 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 17.290 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 17.290 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) 17.291 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.291 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.291 * [backup-simplify]: Simplify (- 0) into 0 17.291 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.291 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.291 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.291 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.291 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.291 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 17.291 * [backup-simplify]: Simplify (* 1 (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (sin (* 0.5 phi1)) (pow lambda2 2)) 17.291 * [backup-simplify]: Simplify (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))) into 0 17.292 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.292 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 17.292 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 17.292 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) 17.292 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 17.292 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.292 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.292 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.292 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 17.292 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.293 * [backup-simplify]: Simplify (- 0) into 0 17.293 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 17.293 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.293 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 17.293 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.293 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 17.293 * [backup-simplify]: Simplify (* 1 0) into 0 17.293 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 0) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 17.293 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) 17.294 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 17.294 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 17.294 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 17.294 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 17.294 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 17.294 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.294 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.294 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.294 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.294 * [backup-simplify]: Simplify 0.5 into 0.5 17.295 * [taylor]: Taking taylor expansion of phi1 in phi1 17.295 * [backup-simplify]: Simplify 0 into 0 17.295 * [backup-simplify]: Simplify 1 into 1 17.295 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.296 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.296 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.296 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.296 * [backup-simplify]: Simplify lambda2 into lambda2 17.296 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 17.296 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.296 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.296 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.296 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.296 * [backup-simplify]: Simplify 0.5 into 0.5 17.296 * [taylor]: Taking taylor expansion of phi1 in phi1 17.296 * [backup-simplify]: Simplify 0 into 0 17.296 * [backup-simplify]: Simplify 1 into 1 17.296 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.297 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.297 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.297 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.297 * [backup-simplify]: Simplify lambda1 into lambda1 17.297 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 17.297 * [taylor]: Taking taylor expansion of 2 in phi1 17.297 * [backup-simplify]: Simplify 2 into 2 17.297 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 17.297 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.297 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.297 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.297 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.297 * [backup-simplify]: Simplify 0.5 into 0.5 17.297 * [taylor]: Taking taylor expansion of phi1 in phi1 17.297 * [backup-simplify]: Simplify 0 into 0 17.297 * [backup-simplify]: Simplify 1 into 1 17.298 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.298 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.298 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.298 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.298 * [backup-simplify]: Simplify lambda2 into lambda2 17.298 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.298 * [backup-simplify]: Simplify lambda1 into lambda1 17.299 * [backup-simplify]: Simplify (* 1 1) into 1 17.299 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.299 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 17.299 * [backup-simplify]: Simplify (* 1 1) into 1 17.299 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.299 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 17.299 * [backup-simplify]: Simplify (+ (pow lambda2 2) (pow lambda1 2)) into (+ (pow lambda1 2) (pow lambda2 2)) 17.300 * [backup-simplify]: Simplify (* 1 1) into 1 17.300 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.300 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 17.300 * [backup-simplify]: Simplify (* 2 (* lambda2 lambda1)) into (* 2 (* lambda2 lambda1)) 17.300 * [backup-simplify]: Simplify (- (* 2 (* lambda2 lambda1))) into (- (* 2 (* lambda2 lambda1))) 17.300 * [backup-simplify]: Simplify (+ (+ (pow lambda1 2) (pow lambda2 2)) (- (* 2 (* lambda2 lambda1)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 17.300 * [taylor]: Taking taylor expansion of (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) in lambda2 17.300 * [taylor]: Taking taylor expansion of (+ (pow lambda1 2) (pow lambda2 2)) in lambda2 17.300 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.300 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.300 * [backup-simplify]: Simplify lambda1 into lambda1 17.300 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.300 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.300 * [backup-simplify]: Simplify 0 into 0 17.300 * [backup-simplify]: Simplify 1 into 1 17.300 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 lambda1)) in lambda2 17.300 * [taylor]: Taking taylor expansion of 2 in lambda2 17.300 * [backup-simplify]: Simplify 2 into 2 17.300 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.300 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.300 * [backup-simplify]: Simplify 0 into 0 17.300 * [backup-simplify]: Simplify 1 into 1 17.300 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.300 * [backup-simplify]: Simplify lambda1 into lambda1 17.300 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.300 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 17.300 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.301 * [backup-simplify]: Simplify (* 2 0) into 0 17.301 * [backup-simplify]: Simplify (- 0) into 0 17.301 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2) 17.301 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.301 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.301 * [backup-simplify]: Simplify 0 into 0 17.301 * [backup-simplify]: Simplify 1 into 1 17.301 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.301 * [backup-simplify]: Simplify (+ 0) into 0 17.302 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 17.302 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 17.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.303 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 17.303 * [backup-simplify]: Simplify (- 0) into 0 17.303 * [backup-simplify]: Simplify (+ 0 0) into 0 17.303 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 17.304 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0 17.304 * [backup-simplify]: Simplify (+ 0) into 0 17.304 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.305 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 17.305 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.305 * [backup-simplify]: Simplify (+ 0) into 0 17.305 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 17.306 * [backup-simplify]: Simplify (+ 1 0) into 1 17.306 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 17.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.308 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 17.308 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 17.308 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 17.308 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 17.308 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 17.309 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 17.309 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 17.309 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.309 * [backup-simplify]: Simplify (+ 0) into 0 17.309 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 17.310 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 17.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.311 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 17.311 * [backup-simplify]: Simplify (+ 0 0) into 0 17.311 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0 17.311 * [backup-simplify]: Simplify (+ 0) into 0 17.312 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0 17.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.313 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2))) 17.314 * [backup-simplify]: Simplify (+ 0) into 0 17.314 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 17.314 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 17.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.315 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 17.315 * [backup-simplify]: Simplify (- 0) into 0 17.315 * [backup-simplify]: Simplify (+ 0 0) into 0 17.316 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 17.316 * [backup-simplify]: Simplify (+ 0) into 0 17.316 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 17.317 * [backup-simplify]: Simplify (+ 1 0) into 1 17.317 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 17.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.319 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 17.319 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 17.319 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 17.319 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 17.319 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) 17.320 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 17.320 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 17.320 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.322 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.322 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 17.322 * [backup-simplify]: Simplify (+ 0) into 0 17.322 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 17.327 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 17.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.328 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 17.329 * [backup-simplify]: Simplify (- 0) into 0 17.329 * [backup-simplify]: Simplify (+ 0 0) into 0 17.329 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2))) 17.330 * [backup-simplify]: Simplify (+ 0) into 0 17.330 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 17.330 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 17.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.331 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 17.331 * [backup-simplify]: Simplify (+ 0 0) into 0 17.332 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 17.332 * [backup-simplify]: Simplify (+ 0) into 0 17.333 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 17.333 * [backup-simplify]: Simplify (+ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into (- (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 17.334 * [backup-simplify]: Simplify (+ (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))))) 17.334 * [backup-simplify]: Simplify (- (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) 17.335 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) 17.335 * [taylor]: Taking taylor expansion of (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi1 17.335 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) in phi1 17.335 * [taylor]: Taking taylor expansion of 2.0 in phi1 17.335 * [backup-simplify]: Simplify 2.0 into 2.0 17.335 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1))) in phi1 17.335 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.335 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.335 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.335 * [backup-simplify]: Simplify 0.5 into 0.5 17.335 * [taylor]: Taking taylor expansion of phi1 in phi1 17.335 * [backup-simplify]: Simplify 0 into 0 17.335 * [backup-simplify]: Simplify 1 into 1 17.336 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.336 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.336 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* lambda2 lambda1)) in phi1 17.336 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.336 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.336 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.336 * [backup-simplify]: Simplify 0.5 into 0.5 17.337 * [taylor]: Taking taylor expansion of phi1 in phi1 17.337 * [backup-simplify]: Simplify 0 into 0 17.337 * [backup-simplify]: Simplify 1 into 1 17.337 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.338 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.338 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.338 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.338 * [backup-simplify]: Simplify lambda2 into lambda2 17.338 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.338 * [backup-simplify]: Simplify lambda1 into lambda1 17.338 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1 17.338 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1 17.338 * [taylor]: Taking taylor expansion of 1.0 in phi1 17.338 * [backup-simplify]: Simplify 1.0 into 1.0 17.338 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1 17.338 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.338 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.338 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.338 * [backup-simplify]: Simplify 0.5 into 0.5 17.338 * [taylor]: Taking taylor expansion of phi1 in phi1 17.338 * [backup-simplify]: Simplify 0 into 0 17.338 * [backup-simplify]: Simplify 1 into 1 17.338 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.339 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.339 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1 17.339 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.339 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.339 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.339 * [backup-simplify]: Simplify 0.5 into 0.5 17.339 * [taylor]: Taking taylor expansion of phi1 in phi1 17.339 * [backup-simplify]: Simplify 0 into 0 17.339 * [backup-simplify]: Simplify 1 into 1 17.339 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.340 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.340 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.340 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.340 * [backup-simplify]: Simplify lambda1 into lambda1 17.341 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1 17.341 * [taylor]: Taking taylor expansion of 1.0 in phi1 17.341 * [backup-simplify]: Simplify 1.0 into 1.0 17.341 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1 17.341 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.341 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.341 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.341 * [backup-simplify]: Simplify 0.5 into 0.5 17.341 * [taylor]: Taking taylor expansion of phi1 in phi1 17.341 * [backup-simplify]: Simplify 0 into 0 17.341 * [backup-simplify]: Simplify 1 into 1 17.341 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.342 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.342 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1 17.342 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.342 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.342 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.342 * [backup-simplify]: Simplify 0.5 into 0.5 17.342 * [taylor]: Taking taylor expansion of phi1 in phi1 17.342 * [backup-simplify]: Simplify 0 into 0 17.342 * [backup-simplify]: Simplify 1 into 1 17.342 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.343 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.343 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.343 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.343 * [backup-simplify]: Simplify lambda2 into lambda2 17.343 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.343 * [backup-simplify]: Simplify (* 0 (* lambda2 lambda1)) into 0 17.344 * [backup-simplify]: Simplify (* 1 0) into 0 17.344 * [backup-simplify]: Simplify (* 2.0 0) into 0 17.344 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.344 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0 17.344 * [backup-simplify]: Simplify (* 1 0) into 0 17.344 * [backup-simplify]: Simplify (* 1.0 0) into 0 17.345 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.345 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0 17.345 * [backup-simplify]: Simplify (* 1 0) into 0 17.345 * [backup-simplify]: Simplify (* 1.0 0) into 0 17.345 * [backup-simplify]: Simplify (+ 0 0) into 0 17.346 * [backup-simplify]: Simplify (- 0) into 0 17.346 * [backup-simplify]: Simplify (+ 0 0) into 0 17.346 * [taylor]: Taking taylor expansion of 0 in lambda2 17.346 * [backup-simplify]: Simplify 0 into 0 17.346 * [taylor]: Taking taylor expansion of 0 in lambda1 17.346 * [backup-simplify]: Simplify 0 into 0 17.346 * [backup-simplify]: Simplify 0 into 0 17.346 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.346 * [backup-simplify]: Simplify (+ 0) into 0 17.347 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.347 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0 17.347 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.347 * [backup-simplify]: Simplify (+ 0) into 0 17.348 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.348 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0 17.348 * [backup-simplify]: Simplify (+ 0 0) into 0 17.348 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.349 * [backup-simplify]: Simplify (+ 0) into 0 17.349 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.349 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda2 lambda1))) into 0 17.350 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* lambda2 lambda1))) into 0 17.350 * [backup-simplify]: Simplify (- 0) into 0 17.350 * [backup-simplify]: Simplify (+ 0 0) into 0 17.350 * [taylor]: Taking taylor expansion of 0 in lambda2 17.350 * [backup-simplify]: Simplify 0 into 0 17.350 * [taylor]: Taking taylor expansion of 0 in lambda1 17.350 * [backup-simplify]: Simplify 0 into 0 17.350 * [backup-simplify]: Simplify 0 into 0 17.350 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.351 * [backup-simplify]: Simplify (+ 0 0) into 0 17.351 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.351 * [backup-simplify]: Simplify (+ (* 2 lambda1) (* 0 0)) into (* 2 lambda1) 17.351 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1)) 17.351 * [backup-simplify]: Simplify (+ 0 (- (* 2 lambda1))) into (- (* 2 lambda1)) 17.351 * [taylor]: Taking taylor expansion of (- (* 2 lambda1)) in lambda1 17.351 * [taylor]: Taking taylor expansion of (* 2 lambda1) in lambda1 17.351 * [taylor]: Taking taylor expansion of 2 in lambda1 17.351 * [backup-simplify]: Simplify 2 into 2 17.351 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.351 * [backup-simplify]: Simplify 0 into 0 17.351 * [backup-simplify]: Simplify 1 into 1 17.352 * [backup-simplify]: Simplify (* 2 0) into 0 17.352 * [backup-simplify]: Simplify (- 0) into 0 17.352 * [backup-simplify]: Simplify 0 into 0 17.352 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.353 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.353 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.354 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 17.354 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.354 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.355 * [backup-simplify]: Simplify (- 0) into 0 17.355 * [backup-simplify]: Simplify (+ 0 0) into 0 17.355 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 17.356 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 17.357 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.360 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 17.361 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) 17.361 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.363 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.363 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 17.364 * [backup-simplify]: Simplify (+ 0 0) into 0 17.364 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 17.365 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.365 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 17.365 * [backup-simplify]: Simplify (- 0) into 0 17.365 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 17.366 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 17.366 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 17.367 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 17.367 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.367 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 17.367 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 17.367 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) 17.368 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 17.369 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) 17.369 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.370 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.370 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.371 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 17.371 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.372 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.372 * [backup-simplify]: Simplify (+ 0 0) into 0 17.372 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda2 2)))) into 0 17.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.375 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.125) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into (- (* 0.125 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) 17.375 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 17.376 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.376 * [backup-simplify]: Simplify (+ (* 0 (- (* 0.125 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* 0.5 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0 17.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.377 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.378 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 17.378 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.379 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.379 * [backup-simplify]: Simplify (- 0) into 0 17.379 * [backup-simplify]: Simplify (+ 0 0) into 0 17.380 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 (* 0.5 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0))) into 0 17.381 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.382 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 17.382 * [backup-simplify]: Simplify (+ 0 0) into 0 17.383 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 17.383 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.384 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 17.384 * [backup-simplify]: Simplify (- 0) into 0 17.384 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 17.385 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 17.385 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) lambda1))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) lambda1)) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) 17.386 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) lambda1)) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) lambda1)))) (+ (* 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 17.387 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) (+ (* 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 17.387 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.388 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 17.388 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.389 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (pow lambda2 2)))) into 0 17.389 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.390 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.390 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 17.391 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.391 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.391 * [backup-simplify]: Simplify (- 0) into 0 17.391 * [backup-simplify]: Simplify (+ 0 0) into 0 17.392 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 (* 0.5 (pow lambda2 2))) (* 0 0))) into 0 17.392 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.393 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.393 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 17.394 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.394 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.394 * [backup-simplify]: Simplify (+ 0 0) into 0 17.395 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (pow lambda2 2)))) (* 0 0))) into 0 17.396 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.397 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* (- 0.125) 0))) into 0 17.398 * [backup-simplify]: Simplify (+ (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 0) into (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 17.398 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 17.398 * [backup-simplify]: Simplify (- (- (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 17.400 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) (- (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) 17.400 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)))))) in phi1 17.400 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))))) in phi1 17.400 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 17.400 * [taylor]: Taking taylor expansion of 0.25 in phi1 17.400 * [backup-simplify]: Simplify 0.25 into 0.25 17.400 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 17.400 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 17.400 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.400 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.400 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.400 * [backup-simplify]: Simplify 0.5 into 0.5 17.400 * [taylor]: Taking taylor expansion of phi1 in phi1 17.400 * [backup-simplify]: Simplify 0 into 0 17.400 * [backup-simplify]: Simplify 1 into 1 17.401 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.401 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.403 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.403 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.403 * [backup-simplify]: Simplify lambda1 into lambda1 17.403 * [taylor]: Taking taylor expansion of (+ (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) in phi1 17.403 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 17.403 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.403 * [backup-simplify]: Simplify 0.5 into 0.5 17.403 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 17.403 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.403 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.403 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.403 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.403 * [backup-simplify]: Simplify 0.5 into 0.5 17.403 * [taylor]: Taking taylor expansion of phi1 in phi1 17.403 * [backup-simplify]: Simplify 0 into 0 17.403 * [backup-simplify]: Simplify 1 into 1 17.403 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.404 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.404 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.404 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.404 * [backup-simplify]: Simplify lambda2 into lambda2 17.404 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.404 * [backup-simplify]: Simplify lambda1 into lambda1 17.404 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 17.404 * [taylor]: Taking taylor expansion of 0.25 in phi1 17.404 * [backup-simplify]: Simplify 0.25 into 0.25 17.404 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 17.404 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 17.404 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.405 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.405 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.405 * [backup-simplify]: Simplify 0.5 into 0.5 17.405 * [taylor]: Taking taylor expansion of phi1 in phi1 17.405 * [backup-simplify]: Simplify 0 into 0 17.405 * [backup-simplify]: Simplify 1 into 1 17.405 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.406 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.407 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.407 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.407 * [backup-simplify]: Simplify lambda2 into lambda2 17.407 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))))) in phi1 17.407 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1 17.407 * [taylor]: Taking taylor expansion of 0.25 in phi1 17.407 * [backup-simplify]: Simplify 0.25 into 0.25 17.407 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1 17.407 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.407 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.407 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.407 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.407 * [backup-simplify]: Simplify 0.5 into 0.5 17.407 * [taylor]: Taking taylor expansion of phi1 in phi1 17.407 * [backup-simplify]: Simplify 0 into 0 17.407 * [backup-simplify]: Simplify 1 into 1 17.408 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.409 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.409 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.409 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.409 * [backup-simplify]: Simplify lambda1 into lambda1 17.409 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)))) in phi1 17.409 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1 17.409 * [taylor]: Taking taylor expansion of 0.25 in phi1 17.409 * [backup-simplify]: Simplify 0.25 into 0.25 17.409 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1 17.409 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 17.409 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 17.409 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.409 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.409 * [backup-simplify]: Simplify 0.5 into 0.5 17.409 * [taylor]: Taking taylor expansion of phi1 in phi1 17.409 * [backup-simplify]: Simplify 0 into 0 17.409 * [backup-simplify]: Simplify 1 into 1 17.409 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.410 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.410 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.410 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.410 * [backup-simplify]: Simplify lambda2 into lambda2 17.410 * [taylor]: Taking taylor expansion of (* 0.5 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1))) in phi1 17.410 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.410 * [backup-simplify]: Simplify 0.5 into 0.5 17.410 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 lambda1)) in phi1 17.410 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 17.410 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.410 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.410 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.410 * [backup-simplify]: Simplify 0.5 into 0.5 17.410 * [taylor]: Taking taylor expansion of phi1 in phi1 17.410 * [backup-simplify]: Simplify 0 into 0 17.410 * [backup-simplify]: Simplify 1 into 1 17.411 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.411 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.413 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.413 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.413 * [backup-simplify]: Simplify lambda2 into lambda2 17.413 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.413 * [backup-simplify]: Simplify lambda1 into lambda1 17.413 * [backup-simplify]: Simplify (* 1 1) into 1 17.413 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.413 * [backup-simplify]: Simplify (* 1 (* lambda2 lambda1)) into (* lambda2 lambda1) 17.413 * [backup-simplify]: Simplify (* 0.5 (* lambda2 lambda1)) into (* 0.5 (* lambda2 lambda1)) 17.414 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) 0) into (* 0.5 (* lambda2 lambda1)) 17.414 * [backup-simplify]: Simplify (+ 0 (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 17.414 * [backup-simplify]: Simplify (* 1 1) into 1 17.414 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.414 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2) 17.414 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 17.414 * [backup-simplify]: Simplify (* 1 1) into 1 17.414 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.415 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2) 17.415 * [backup-simplify]: Simplify (* 0.25 (pow lambda2 2)) into (* 0.25 (pow lambda2 2)) 17.415 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda2 2)) 0) into (* 0.25 (pow lambda2 2)) 17.415 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) into (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) 17.415 * [backup-simplify]: Simplify (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 17.416 * [backup-simplify]: Simplify (+ (* 0.5 (* lambda2 lambda1)) (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))))) into (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 17.416 * [taylor]: Taking taylor expansion of (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda2 17.416 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda2 17.416 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.416 * [backup-simplify]: Simplify 0.5 into 0.5 17.416 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.416 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.416 * [backup-simplify]: Simplify 0 into 0 17.416 * [backup-simplify]: Simplify 1 into 1 17.416 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.416 * [backup-simplify]: Simplify lambda1 into lambda1 17.416 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda2 17.416 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda2 17.416 * [taylor]: Taking taylor expansion of 0.25 in lambda2 17.416 * [backup-simplify]: Simplify 0.25 into 0.25 17.416 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.416 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.416 * [backup-simplify]: Simplify lambda1 into lambda1 17.416 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 17.416 * [taylor]: Taking taylor expansion of 0.25 in lambda2 17.416 * [backup-simplify]: Simplify 0.25 into 0.25 17.416 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.416 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.416 * [backup-simplify]: Simplify 0 into 0 17.416 * [backup-simplify]: Simplify 1 into 1 17.416 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.422 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.423 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.423 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 17.423 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 17.423 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2))) 17.423 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 17.423 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1 17.423 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 17.423 * [taylor]: Taking taylor expansion of 0.25 in lambda1 17.424 * [backup-simplify]: Simplify 0.25 into 0.25 17.424 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.424 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.424 * [backup-simplify]: Simplify 0 into 0 17.424 * [backup-simplify]: Simplify 1 into 1 17.424 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.427 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* lambda2 lambda1))) into (* 0.5 (* lambda2 lambda1)) 17.427 * [backup-simplify]: Simplify (+ 0) into 0 17.427 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 0.5 (* lambda2 lambda1)) 17.428 * [backup-simplify]: Simplify (+ (* 2.0 (* 0.5 (* lambda2 lambda1))) (* 0 0)) into (* 1.0 (* lambda2 lambda1)) 17.428 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.430 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2)) 17.430 * [backup-simplify]: Simplify (+ 0) into 0 17.431 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 17.431 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2)) 17.431 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.434 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2)) 17.434 * [backup-simplify]: Simplify (+ 0) into 0 17.435 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 17.435 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2)) 17.435 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) into (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) 17.436 * [backup-simplify]: Simplify (- (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) into (- (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) 17.436 * [backup-simplify]: Simplify (+ (* 1.0 (* lambda2 lambda1)) (- (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))))) into (- (* 1.0 (* lambda2 lambda1)) (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) 17.436 * [taylor]: Taking taylor expansion of (- (* 1.0 (* lambda2 lambda1)) (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2)))) in lambda2 17.436 * [taylor]: Taking taylor expansion of (* 1.0 (* lambda2 lambda1)) in lambda2 17.436 * [taylor]: Taking taylor expansion of 1.0 in lambda2 17.436 * [backup-simplify]: Simplify 1.0 into 1.0 17.436 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.436 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.436 * [backup-simplify]: Simplify 0 into 0 17.436 * [backup-simplify]: Simplify 1 into 1 17.436 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.436 * [backup-simplify]: Simplify lambda1 into lambda1 17.436 * [taylor]: Taking taylor expansion of (+ (* 0.5 (pow lambda1 2)) (* 0.5 (pow lambda2 2))) in lambda2 17.436 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda1 2)) in lambda2 17.436 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.436 * [backup-simplify]: Simplify 0.5 into 0.5 17.436 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.436 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.436 * [backup-simplify]: Simplify lambda1 into lambda1 17.436 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda2 2)) in lambda2 17.436 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.437 * [backup-simplify]: Simplify 0.5 into 0.5 17.437 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.437 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.437 * [backup-simplify]: Simplify 0 into 0 17.437 * [backup-simplify]: Simplify 1 into 1 17.437 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.437 * [backup-simplify]: Simplify (* 1.0 0) into 0 17.437 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.437 * [backup-simplify]: Simplify (* 0.5 (pow lambda1 2)) into (* 0.5 (pow lambda1 2)) 17.437 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) 0) into (* 0.5 (pow lambda1 2)) 17.437 * [backup-simplify]: Simplify (- (* 0.5 (pow lambda1 2))) into (- (* 0.5 (pow lambda1 2))) 17.438 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (pow lambda1 2)))) into (- (* 0.5 (pow lambda1 2))) 17.438 * [taylor]: Taking taylor expansion of (- (* 0.5 (pow lambda1 2))) in lambda1 17.438 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda1 2)) in lambda1 17.438 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.438 * [backup-simplify]: Simplify 0.5 into 0.5 17.438 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.438 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.438 * [backup-simplify]: Simplify 0 into 0 17.438 * [backup-simplify]: Simplify 1 into 1 17.438 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.440 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.443 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 17.444 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda2 2)))) into (- (* 0.25 (pow lambda2 2))) 17.444 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.447 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.449 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 17.451 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 17.451 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda2 2))) (- (* 0.25 (pow lambda1 2)))) into (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 17.452 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.454 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 17.457 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 17.458 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* lambda2 lambda1)))) into (- (* 0.25 (* lambda2 lambda1))) 17.458 * [backup-simplify]: Simplify (+ (* 2 (- (* 0.25 (* lambda2 lambda1)))) (+ (* 0 0) (* 0 (* lambda2 lambda1)))) into (- (* 0.5 (* lambda2 lambda1))) 17.458 * [backup-simplify]: Simplify (- (- (* 0.5 (* lambda2 lambda1)))) into (* 0.5 (* lambda2 lambda1)) 17.459 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) (* 0.5 (* lambda2 lambda1))) into (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) 17.459 * [taylor]: Taking taylor expansion of (- (* 0.5 (* lambda2 lambda1)) (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2)))) in lambda2 17.459 * [taylor]: Taking taylor expansion of (* 0.5 (* lambda2 lambda1)) in lambda2 17.459 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.459 * [backup-simplify]: Simplify 0.5 into 0.5 17.459 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.459 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.459 * [backup-simplify]: Simplify 0 into 0 17.459 * [backup-simplify]: Simplify 1 into 1 17.459 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.459 * [backup-simplify]: Simplify lambda1 into lambda1 17.459 * [taylor]: Taking taylor expansion of (+ (* 0.25 (pow lambda1 2)) (* 0.25 (pow lambda2 2))) in lambda2 17.459 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda2 17.459 * [taylor]: Taking taylor expansion of 0.25 in lambda2 17.459 * [backup-simplify]: Simplify 0.25 into 0.25 17.459 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.459 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.459 * [backup-simplify]: Simplify lambda1 into lambda1 17.459 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda2 2)) in lambda2 17.459 * [taylor]: Taking taylor expansion of 0.25 in lambda2 17.459 * [backup-simplify]: Simplify 0.25 into 0.25 17.459 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.459 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.459 * [backup-simplify]: Simplify 0 into 0 17.459 * [backup-simplify]: Simplify 1 into 1 17.459 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.460 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.460 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.460 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2)) 17.460 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2)) 17.460 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2))) 17.460 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2))) 17.460 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1 17.460 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1 17.460 * [taylor]: Taking taylor expansion of 0.25 in lambda1 17.460 * [backup-simplify]: Simplify 0.25 into 0.25 17.460 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.460 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.460 * [backup-simplify]: Simplify 0 into 0 17.460 * [backup-simplify]: Simplify 1 into 1 17.460 * [taylor]: Taking taylor expansion of 0 in lambda1 17.460 * [backup-simplify]: Simplify 0 into 0 17.460 * [backup-simplify]: Simplify 0 into 0 17.460 * [taylor]: Taking taylor expansion of 0 in lambda1 17.460 * [backup-simplify]: Simplify 0 into 0 17.460 * [backup-simplify]: Simplify 0 into 0 17.461 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.461 * [backup-simplify]: Simplify (* 1 1) into 1 17.461 * [backup-simplify]: Simplify (+ 0 1) into 1 17.462 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 17.462 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 lambda1) (* 0 0))) into 0 17.463 * [backup-simplify]: Simplify (- 0) into 0 17.463 * [backup-simplify]: Simplify (+ 1 0) into 1 17.463 * [taylor]: Taking taylor expansion of 1 in lambda1 17.463 * [backup-simplify]: Simplify 1 into 1 17.463 * [backup-simplify]: Simplify 1 into 1 17.463 * [backup-simplify]: Simplify 0 into 0 17.463 * [backup-simplify]: Simplify 0 into 0 17.463 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2 17.464 * [backup-simplify]: Simplify (- 2) into -2 17.464 * [backup-simplify]: Simplify -2 into -2 17.464 * [backup-simplify]: Simplify (* 1 1) into 1 17.464 * [backup-simplify]: Simplify 1 into 1 17.465 * [backup-simplify]: Simplify (+ (* 1 (pow (* lambda1 (* 1 (* 1 1))) 2)) (+ (* -2 (* lambda1 (* lambda2 (* 1 1)))) (* 1 (pow (* 1 (* lambda2 (* 1 1))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 17.468 * [backup-simplify]: Simplify (- (+ (* (pow (cos (* 0.5 (/ 1 phi2))) 2) (* (pow (cos (* 0.5 (/ 1 phi1))) 2) (pow (/ 1 lambda2) 2))) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2)) (* (pow (sin (* 0.5 (/ 1 phi2))) 2) (* (pow (/ 1 lambda2) 2) (pow (sin (* 0.5 (/ 1 phi1))) 2))))) (+ (* (cos (* 0.5 (/ 1 phi2))) (* (sin (* 0.5 (/ 1 phi1))) (* (cos (* 0.5 (/ 1 phi1))) (* (sin (* 0.5 (/ 1 phi2))) (pow (/ 1 lambda2) 2))))) (+ (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1)))) (* (cos (* 0.5 (/ 1 phi1))) (* (sin (* 0.5 (/ 1 phi2))) (* (cos (* 0.5 (/ 1 phi2))) (* (sin (* 0.5 (/ 1 phi1))) (pow (/ 1 lambda2) 2)))))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 17.468 * [approximate]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in (phi2 phi1 lambda2 lambda1) around 0 17.468 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda1 17.468 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1 17.468 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 17.468 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.468 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.468 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.468 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.468 * [backup-simplify]: Simplify 0.5 into 0.5 17.468 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.468 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.468 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.468 * [backup-simplify]: Simplify phi1 into phi1 17.468 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.468 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.468 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.468 * [backup-simplify]: Simplify phi2 into phi2 17.468 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.468 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.468 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.468 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.468 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.469 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.469 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.469 * [backup-simplify]: Simplify (- 0) into 0 17.469 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.469 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.469 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.469 * [backup-simplify]: Simplify 0 into 0 17.469 * [backup-simplify]: Simplify 1 into 1 17.469 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.470 * [backup-simplify]: Simplify (* 1 1) into 1 17.470 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.470 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1 17.470 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 17.470 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 17.470 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 17.470 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 17.470 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.470 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.470 * [backup-simplify]: Simplify 0.5 into 0.5 17.470 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.470 * [backup-simplify]: Simplify phi1 into phi1 17.470 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.470 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.470 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.470 * [backup-simplify]: Simplify (- 0) into 0 17.471 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.471 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 17.471 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 17.471 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.471 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.471 * [backup-simplify]: Simplify 0.5 into 0.5 17.471 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.471 * [backup-simplify]: Simplify phi2 into phi2 17.471 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.471 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.471 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.471 * [backup-simplify]: Simplify (- 0) into 0 17.471 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.471 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.471 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.471 * [backup-simplify]: Simplify lambda2 into lambda2 17.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.472 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.472 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.472 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.472 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.472 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1 17.472 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 17.472 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 17.472 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 17.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.472 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.472 * [backup-simplify]: Simplify 0.5 into 0.5 17.472 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.472 * [backup-simplify]: Simplify phi1 into phi1 17.472 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.472 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.472 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.472 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.473 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.473 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 17.473 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 17.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.473 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.473 * [backup-simplify]: Simplify 0.5 into 0.5 17.473 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.473 * [backup-simplify]: Simplify phi2 into phi2 17.473 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.473 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.473 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.473 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.473 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.473 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.473 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.473 * [backup-simplify]: Simplify lambda2 into lambda2 17.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.473 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.473 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.474 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.474 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda1 17.474 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 17.474 * [taylor]: Taking taylor expansion of 2 in lambda1 17.474 * [backup-simplify]: Simplify 2 into 2 17.474 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 17.474 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.474 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.474 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.474 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.474 * [backup-simplify]: Simplify 0.5 into 0.5 17.474 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.474 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.474 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.474 * [backup-simplify]: Simplify phi1 into phi1 17.474 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.474 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.474 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.474 * [backup-simplify]: Simplify phi2 into phi2 17.474 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.474 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.474 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.474 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.474 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.475 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.475 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.475 * [backup-simplify]: Simplify (- 0) into 0 17.475 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.475 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 17.475 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.475 * [backup-simplify]: Simplify lambda2 into lambda2 17.475 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.475 * [backup-simplify]: Simplify 0 into 0 17.475 * [backup-simplify]: Simplify 1 into 1 17.475 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.475 * [backup-simplify]: Simplify (* lambda2 0) into 0 17.476 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 17.476 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 17.476 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1 17.476 * [taylor]: Taking taylor expansion of 2 in lambda1 17.476 * [backup-simplify]: Simplify 2 into 2 17.476 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1 17.476 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 17.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 17.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.476 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.476 * [backup-simplify]: Simplify 0.5 into 0.5 17.476 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.476 * [backup-simplify]: Simplify phi1 into phi1 17.476 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.476 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 17.476 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 17.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.476 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.476 * [backup-simplify]: Simplify 0.5 into 0.5 17.476 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.476 * [backup-simplify]: Simplify phi1 into phi1 17.476 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.477 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 17.477 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 17.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.477 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.477 * [backup-simplify]: Simplify 0.5 into 0.5 17.477 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.477 * [backup-simplify]: Simplify phi2 into phi2 17.477 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.477 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 17.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.477 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.477 * [backup-simplify]: Simplify 0.5 into 0.5 17.477 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.477 * [backup-simplify]: Simplify phi2 into phi2 17.477 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.477 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.477 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.477 * [backup-simplify]: Simplify lambda2 into lambda2 17.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.477 * [backup-simplify]: Simplify (- 0) into 0 17.478 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.478 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.478 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.478 * [backup-simplify]: Simplify (- 0) into 0 17.478 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.479 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.479 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 17.479 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 17.479 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 17.479 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 17.479 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.479 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.479 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.479 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.479 * [backup-simplify]: Simplify 0.5 into 0.5 17.479 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.479 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.479 * [backup-simplify]: Simplify phi1 into phi1 17.479 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.479 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.479 * [backup-simplify]: Simplify phi2 into phi2 17.479 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.480 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.480 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.480 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.480 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.480 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.480 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.480 * [backup-simplify]: Simplify (- 0) into 0 17.480 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.480 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.480 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.480 * [backup-simplify]: Simplify lambda1 into lambda1 17.481 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.481 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.481 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.481 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 17.481 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 17.481 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.481 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.481 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.481 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.481 * [backup-simplify]: Simplify 0.5 into 0.5 17.481 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.481 * [backup-simplify]: Simplify phi1 into phi1 17.481 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.481 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.482 * [backup-simplify]: Simplify (- 0) into 0 17.482 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.482 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.482 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.482 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.482 * [backup-simplify]: Simplify 0.5 into 0.5 17.482 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.482 * [backup-simplify]: Simplify phi2 into phi2 17.482 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.482 * [backup-simplify]: Simplify (- 0) into 0 17.483 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.483 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.483 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.483 * [backup-simplify]: Simplify 0 into 0 17.483 * [backup-simplify]: Simplify 1 into 1 17.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.483 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.483 * [backup-simplify]: Simplify (* 1 1) into 1 17.483 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.483 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 17.484 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.484 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.484 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.484 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.484 * [backup-simplify]: Simplify 0.5 into 0.5 17.484 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.484 * [backup-simplify]: Simplify phi1 into phi1 17.484 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.484 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.484 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.484 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.484 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.484 * [backup-simplify]: Simplify 0.5 into 0.5 17.484 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.484 * [backup-simplify]: Simplify phi2 into phi2 17.484 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.484 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.484 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.485 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.485 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.485 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.485 * [backup-simplify]: Simplify 0 into 0 17.485 * [backup-simplify]: Simplify 1 into 1 17.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.485 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.485 * [backup-simplify]: Simplify (* 1 1) into 1 17.485 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.486 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 17.486 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 17.486 * [taylor]: Taking taylor expansion of 2 in lambda2 17.486 * [backup-simplify]: Simplify 2 into 2 17.486 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 17.486 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.486 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.486 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.486 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.486 * [backup-simplify]: Simplify 0.5 into 0.5 17.486 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.486 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.486 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.486 * [backup-simplify]: Simplify phi1 into phi1 17.486 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.486 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.486 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.486 * [backup-simplify]: Simplify phi2 into phi2 17.486 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.486 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.486 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.486 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.486 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.486 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.486 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.487 * [backup-simplify]: Simplify (- 0) into 0 17.487 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.487 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.487 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.487 * [backup-simplify]: Simplify 0 into 0 17.487 * [backup-simplify]: Simplify 1 into 1 17.487 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.487 * [backup-simplify]: Simplify lambda1 into lambda1 17.487 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.487 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.487 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.488 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 17.488 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 17.488 * [taylor]: Taking taylor expansion of 2 in lambda2 17.488 * [backup-simplify]: Simplify 2 into 2 17.488 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 17.488 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.488 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.488 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.488 * [backup-simplify]: Simplify 0.5 into 0.5 17.488 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.488 * [backup-simplify]: Simplify phi1 into phi1 17.488 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.488 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.488 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.488 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.488 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.488 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.488 * [backup-simplify]: Simplify 0.5 into 0.5 17.488 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.488 * [backup-simplify]: Simplify phi1 into phi1 17.488 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.488 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.488 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.488 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.488 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.488 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.488 * [backup-simplify]: Simplify 0.5 into 0.5 17.488 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.488 * [backup-simplify]: Simplify phi2 into phi2 17.488 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.488 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.488 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.488 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.489 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.489 * [backup-simplify]: Simplify 0.5 into 0.5 17.489 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.489 * [backup-simplify]: Simplify phi2 into phi2 17.489 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.489 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.489 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.489 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.489 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.489 * [backup-simplify]: Simplify 0 into 0 17.489 * [backup-simplify]: Simplify 1 into 1 17.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.489 * [backup-simplify]: Simplify (- 0) into 0 17.489 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.489 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.490 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.490 * [backup-simplify]: Simplify (- 0) into 0 17.490 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.491 * [backup-simplify]: Simplify (* 1 1) into 1 17.491 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.491 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1 17.491 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 17.491 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 17.491 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.491 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.491 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.491 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.491 * [backup-simplify]: Simplify 0.5 into 0.5 17.491 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.491 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.491 * [taylor]: Taking taylor expansion of phi1 in phi1 17.491 * [backup-simplify]: Simplify 0 into 0 17.491 * [backup-simplify]: Simplify 1 into 1 17.491 * [backup-simplify]: Simplify (/ 1 1) into 1 17.491 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.491 * [taylor]: Taking taylor expansion of phi2 in phi1 17.491 * [backup-simplify]: Simplify phi2 into phi2 17.491 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.492 * [backup-simplify]: Simplify (+ 1 0) into 1 17.492 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.492 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.492 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.492 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.492 * [backup-simplify]: Simplify lambda1 into lambda1 17.493 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.493 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.493 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.493 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 17.493 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 17.493 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 17.493 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 17.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 17.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.493 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.493 * [backup-simplify]: Simplify 0.5 into 0.5 17.493 * [taylor]: Taking taylor expansion of phi1 in phi1 17.493 * [backup-simplify]: Simplify 0 into 0 17.493 * [backup-simplify]: Simplify 1 into 1 17.493 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.493 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 17.494 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 17.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.494 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.494 * [backup-simplify]: Simplify 0.5 into 0.5 17.494 * [taylor]: Taking taylor expansion of phi2 in phi1 17.494 * [backup-simplify]: Simplify phi2 into phi2 17.494 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.494 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.494 * [backup-simplify]: Simplify (- 0) into 0 17.494 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.494 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.494 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.494 * [backup-simplify]: Simplify lambda2 into lambda2 17.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.495 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.495 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.495 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.495 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 17.495 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 17.495 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 17.495 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 17.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.495 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.495 * [backup-simplify]: Simplify 0.5 into 0.5 17.495 * [taylor]: Taking taylor expansion of phi1 in phi1 17.495 * [backup-simplify]: Simplify 0 into 0 17.495 * [backup-simplify]: Simplify 1 into 1 17.495 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.495 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.495 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 17.496 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 17.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.496 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.496 * [backup-simplify]: Simplify 0.5 into 0.5 17.496 * [taylor]: Taking taylor expansion of phi2 in phi1 17.496 * [backup-simplify]: Simplify phi2 into phi2 17.496 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.496 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.496 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.496 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.496 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.496 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.496 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.496 * [backup-simplify]: Simplify lambda2 into lambda2 17.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.496 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.496 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.497 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.497 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1 17.497 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 17.497 * [taylor]: Taking taylor expansion of 2 in phi1 17.497 * [backup-simplify]: Simplify 2 into 2 17.497 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 17.497 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.497 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.497 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.497 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.497 * [backup-simplify]: Simplify 0.5 into 0.5 17.497 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.497 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.497 * [taylor]: Taking taylor expansion of phi1 in phi1 17.497 * [backup-simplify]: Simplify 0 into 0 17.497 * [backup-simplify]: Simplify 1 into 1 17.497 * [backup-simplify]: Simplify (/ 1 1) into 1 17.497 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.497 * [taylor]: Taking taylor expansion of phi2 in phi1 17.497 * [backup-simplify]: Simplify phi2 into phi2 17.497 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.498 * [backup-simplify]: Simplify (+ 1 0) into 1 17.498 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.498 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.498 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.498 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.498 * [backup-simplify]: Simplify lambda2 into lambda2 17.498 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.498 * [backup-simplify]: Simplify lambda1 into lambda1 17.498 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.498 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.498 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.498 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1 17.499 * [taylor]: Taking taylor expansion of 2 in phi1 17.499 * [backup-simplify]: Simplify 2 into 2 17.499 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1 17.499 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 17.499 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 17.499 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.499 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.499 * [backup-simplify]: Simplify 0.5 into 0.5 17.499 * [taylor]: Taking taylor expansion of phi1 in phi1 17.499 * [backup-simplify]: Simplify 0 into 0 17.499 * [backup-simplify]: Simplify 1 into 1 17.499 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.499 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.499 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 17.499 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 17.499 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.499 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.499 * [backup-simplify]: Simplify 0.5 into 0.5 17.499 * [taylor]: Taking taylor expansion of phi1 in phi1 17.499 * [backup-simplify]: Simplify 0 into 0 17.499 * [backup-simplify]: Simplify 1 into 1 17.499 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.499 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.500 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 17.500 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 17.500 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.500 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.500 * [backup-simplify]: Simplify 0.5 into 0.5 17.500 * [taylor]: Taking taylor expansion of phi2 in phi1 17.500 * [backup-simplify]: Simplify phi2 into phi2 17.500 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.500 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.500 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.500 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 17.500 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.500 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.500 * [backup-simplify]: Simplify 0.5 into 0.5 17.500 * [taylor]: Taking taylor expansion of phi2 in phi1 17.500 * [backup-simplify]: Simplify phi2 into phi2 17.500 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.500 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.500 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.500 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.500 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.500 * [backup-simplify]: Simplify lambda2 into lambda2 17.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.500 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.501 * [backup-simplify]: Simplify (- 0) into 0 17.501 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.501 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.501 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.501 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.501 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.501 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 17.501 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2 17.501 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 17.501 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 17.501 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.501 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.502 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.502 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.502 * [backup-simplify]: Simplify 0.5 into 0.5 17.502 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.502 * [taylor]: Taking taylor expansion of phi1 in phi2 17.502 * [backup-simplify]: Simplify phi1 into phi1 17.502 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.502 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.502 * [taylor]: Taking taylor expansion of phi2 in phi2 17.502 * [backup-simplify]: Simplify 0 into 0 17.502 * [backup-simplify]: Simplify 1 into 1 17.502 * [backup-simplify]: Simplify (/ 1 1) into 1 17.502 * [backup-simplify]: Simplify (+ 0 1) into 1 17.502 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.503 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.503 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.503 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.503 * [backup-simplify]: Simplify lambda1 into lambda1 17.503 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.503 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.503 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.503 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 17.503 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 17.503 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 17.503 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 17.503 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 17.503 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.503 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.503 * [backup-simplify]: Simplify 0.5 into 0.5 17.503 * [taylor]: Taking taylor expansion of phi1 in phi2 17.503 * [backup-simplify]: Simplify phi1 into phi1 17.503 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.503 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.503 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.504 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.504 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.504 * [backup-simplify]: Simplify (- 0) into 0 17.504 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.504 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 17.504 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 17.504 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.504 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.504 * [backup-simplify]: Simplify 0.5 into 0.5 17.504 * [taylor]: Taking taylor expansion of phi2 in phi2 17.504 * [backup-simplify]: Simplify 0 into 0 17.504 * [backup-simplify]: Simplify 1 into 1 17.504 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.504 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.504 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.504 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.504 * [backup-simplify]: Simplify lambda2 into lambda2 17.505 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.505 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.505 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.505 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.505 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.505 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 17.505 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 17.505 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 17.505 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 17.505 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.505 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.505 * [backup-simplify]: Simplify 0.5 into 0.5 17.505 * [taylor]: Taking taylor expansion of phi1 in phi2 17.505 * [backup-simplify]: Simplify phi1 into phi1 17.505 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.505 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.505 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.505 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.506 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.506 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.506 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 17.506 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 17.506 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.506 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.506 * [backup-simplify]: Simplify 0.5 into 0.5 17.506 * [taylor]: Taking taylor expansion of phi2 in phi2 17.506 * [backup-simplify]: Simplify 0 into 0 17.506 * [backup-simplify]: Simplify 1 into 1 17.506 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.506 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.506 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.506 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.506 * [backup-simplify]: Simplify lambda2 into lambda2 17.506 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.506 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.507 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.507 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.507 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.507 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2 17.507 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 17.507 * [taylor]: Taking taylor expansion of 2 in phi2 17.507 * [backup-simplify]: Simplify 2 into 2 17.507 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 17.507 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.507 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.507 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.507 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.507 * [backup-simplify]: Simplify 0.5 into 0.5 17.507 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.507 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.507 * [taylor]: Taking taylor expansion of phi1 in phi2 17.507 * [backup-simplify]: Simplify phi1 into phi1 17.507 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.507 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.507 * [taylor]: Taking taylor expansion of phi2 in phi2 17.507 * [backup-simplify]: Simplify 0 into 0 17.507 * [backup-simplify]: Simplify 1 into 1 17.507 * [backup-simplify]: Simplify (/ 1 1) into 1 17.508 * [backup-simplify]: Simplify (+ 0 1) into 1 17.508 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.508 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.508 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 17.508 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.508 * [backup-simplify]: Simplify lambda2 into lambda2 17.508 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.508 * [backup-simplify]: Simplify lambda1 into lambda1 17.508 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.508 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.509 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.509 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2 17.509 * [taylor]: Taking taylor expansion of 2 in phi2 17.509 * [backup-simplify]: Simplify 2 into 2 17.509 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2 17.509 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 17.509 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 17.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.509 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.509 * [backup-simplify]: Simplify 0.5 into 0.5 17.509 * [taylor]: Taking taylor expansion of phi1 in phi2 17.509 * [backup-simplify]: Simplify phi1 into phi1 17.509 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.509 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.509 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.509 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 17.509 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 17.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.509 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.509 * [backup-simplify]: Simplify 0.5 into 0.5 17.509 * [taylor]: Taking taylor expansion of phi1 in phi2 17.509 * [backup-simplify]: Simplify phi1 into phi1 17.509 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.509 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.509 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.509 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 17.509 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 17.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.509 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.509 * [backup-simplify]: Simplify 0.5 into 0.5 17.509 * [taylor]: Taking taylor expansion of phi2 in phi2 17.509 * [backup-simplify]: Simplify 0 into 0 17.509 * [backup-simplify]: Simplify 1 into 1 17.510 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.510 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 17.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.510 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.510 * [backup-simplify]: Simplify 0.5 into 0.5 17.510 * [taylor]: Taking taylor expansion of phi2 in phi2 17.510 * [backup-simplify]: Simplify 0 into 0 17.510 * [backup-simplify]: Simplify 1 into 1 17.510 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.510 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.510 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.510 * [backup-simplify]: Simplify lambda2 into lambda2 17.510 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.510 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.511 * [backup-simplify]: Simplify (- 0) into 0 17.511 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.511 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.511 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.511 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.511 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.511 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.512 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 17.512 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2 17.512 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2 17.512 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 17.512 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.512 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.512 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.512 * [backup-simplify]: Simplify 0.5 into 0.5 17.512 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.512 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.512 * [taylor]: Taking taylor expansion of phi1 in phi2 17.512 * [backup-simplify]: Simplify phi1 into phi1 17.512 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.512 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.512 * [taylor]: Taking taylor expansion of phi2 in phi2 17.512 * [backup-simplify]: Simplify 0 into 0 17.512 * [backup-simplify]: Simplify 1 into 1 17.512 * [backup-simplify]: Simplify (/ 1 1) into 1 17.512 * [backup-simplify]: Simplify (+ 0 1) into 1 17.513 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.513 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.513 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.513 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.513 * [backup-simplify]: Simplify lambda1 into lambda1 17.513 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.513 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.513 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.513 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2 17.513 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 17.513 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 17.513 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 17.513 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 17.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.513 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.513 * [backup-simplify]: Simplify 0.5 into 0.5 17.513 * [taylor]: Taking taylor expansion of phi1 in phi2 17.513 * [backup-simplify]: Simplify phi1 into phi1 17.514 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.514 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.514 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.514 * [backup-simplify]: Simplify (- 0) into 0 17.514 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.514 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 17.514 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 17.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.514 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.514 * [backup-simplify]: Simplify 0.5 into 0.5 17.514 * [taylor]: Taking taylor expansion of phi2 in phi2 17.514 * [backup-simplify]: Simplify 0 into 0 17.514 * [backup-simplify]: Simplify 1 into 1 17.514 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.515 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.515 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.515 * [backup-simplify]: Simplify lambda2 into lambda2 17.515 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.515 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.515 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.515 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.515 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.515 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 17.515 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 17.515 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 17.515 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 17.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.515 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.515 * [backup-simplify]: Simplify 0.5 into 0.5 17.515 * [taylor]: Taking taylor expansion of phi1 in phi2 17.515 * [backup-simplify]: Simplify phi1 into phi1 17.516 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.516 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.516 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.516 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.516 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.516 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 17.516 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 17.516 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.516 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.516 * [backup-simplify]: Simplify 0.5 into 0.5 17.516 * [taylor]: Taking taylor expansion of phi2 in phi2 17.516 * [backup-simplify]: Simplify 0 into 0 17.516 * [backup-simplify]: Simplify 1 into 1 17.516 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.516 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.516 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.516 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.516 * [backup-simplify]: Simplify lambda2 into lambda2 17.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.517 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.517 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.517 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.517 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2 17.517 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 17.517 * [taylor]: Taking taylor expansion of 2 in phi2 17.517 * [backup-simplify]: Simplify 2 into 2 17.517 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 17.517 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.517 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.517 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.517 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.517 * [backup-simplify]: Simplify 0.5 into 0.5 17.517 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.517 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.517 * [taylor]: Taking taylor expansion of phi1 in phi2 17.517 * [backup-simplify]: Simplify phi1 into phi1 17.517 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.517 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.517 * [taylor]: Taking taylor expansion of phi2 in phi2 17.517 * [backup-simplify]: Simplify 0 into 0 17.517 * [backup-simplify]: Simplify 1 into 1 17.518 * [backup-simplify]: Simplify (/ 1 1) into 1 17.518 * [backup-simplify]: Simplify (+ 0 1) into 1 17.518 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.518 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.518 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 17.518 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.518 * [backup-simplify]: Simplify lambda2 into lambda2 17.518 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.518 * [backup-simplify]: Simplify lambda1 into lambda1 17.519 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.519 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.519 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.519 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2 17.519 * [taylor]: Taking taylor expansion of 2 in phi2 17.519 * [backup-simplify]: Simplify 2 into 2 17.519 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2 17.519 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 17.519 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 17.519 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.519 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.519 * [backup-simplify]: Simplify 0.5 into 0.5 17.519 * [taylor]: Taking taylor expansion of phi1 in phi2 17.519 * [backup-simplify]: Simplify phi1 into phi1 17.519 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.519 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.519 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.519 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 17.519 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 17.519 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 17.519 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.519 * [backup-simplify]: Simplify 0.5 into 0.5 17.519 * [taylor]: Taking taylor expansion of phi1 in phi2 17.519 * [backup-simplify]: Simplify phi1 into phi1 17.519 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.519 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.519 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.519 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 17.519 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 17.519 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.520 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.520 * [backup-simplify]: Simplify 0.5 into 0.5 17.520 * [taylor]: Taking taylor expansion of phi2 in phi2 17.520 * [backup-simplify]: Simplify 0 into 0 17.520 * [backup-simplify]: Simplify 1 into 1 17.520 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.520 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.520 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 17.520 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 17.520 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.520 * [backup-simplify]: Simplify 0.5 into 0.5 17.520 * [taylor]: Taking taylor expansion of phi2 in phi2 17.520 * [backup-simplify]: Simplify 0 into 0 17.520 * [backup-simplify]: Simplify 1 into 1 17.520 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.520 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.520 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.520 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.520 * [backup-simplify]: Simplify lambda2 into lambda2 17.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.521 * [backup-simplify]: Simplify (- 0) into 0 17.521 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.521 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.521 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.521 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.522 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 17.522 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 17.523 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 17.524 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 17.524 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 17.524 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) 17.525 * [backup-simplify]: Simplify (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 17.527 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 17.527 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1 17.527 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1 17.527 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 17.527 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.527 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.527 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.527 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.527 * [backup-simplify]: Simplify 0.5 into 0.5 17.527 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.527 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.527 * [taylor]: Taking taylor expansion of phi1 in phi1 17.527 * [backup-simplify]: Simplify 0 into 0 17.527 * [backup-simplify]: Simplify 1 into 1 17.528 * [backup-simplify]: Simplify (/ 1 1) into 1 17.528 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.528 * [taylor]: Taking taylor expansion of phi2 in phi1 17.528 * [backup-simplify]: Simplify phi2 into phi2 17.528 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.528 * [backup-simplify]: Simplify (+ 1 0) into 1 17.528 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.528 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.528 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.529 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.529 * [backup-simplify]: Simplify lambda1 into lambda1 17.529 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.529 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.529 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.529 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1 17.529 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 17.529 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 17.529 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 17.529 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 17.529 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.529 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.529 * [backup-simplify]: Simplify 0.5 into 0.5 17.529 * [taylor]: Taking taylor expansion of phi1 in phi1 17.529 * [backup-simplify]: Simplify 0 into 0 17.529 * [backup-simplify]: Simplify 1 into 1 17.529 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.530 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.530 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 17.530 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 17.530 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.530 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.530 * [backup-simplify]: Simplify 0.5 into 0.5 17.530 * [taylor]: Taking taylor expansion of phi2 in phi1 17.530 * [backup-simplify]: Simplify phi2 into phi2 17.530 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.530 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.530 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.530 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.530 * [backup-simplify]: Simplify (- 0) into 0 17.530 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.530 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.530 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.530 * [backup-simplify]: Simplify lambda2 into lambda2 17.530 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.531 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.531 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.531 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.531 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 17.531 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 17.531 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 17.531 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 17.531 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.531 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.531 * [backup-simplify]: Simplify 0.5 into 0.5 17.531 * [taylor]: Taking taylor expansion of phi1 in phi1 17.531 * [backup-simplify]: Simplify 0 into 0 17.531 * [backup-simplify]: Simplify 1 into 1 17.531 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.532 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.532 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 17.532 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 17.532 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.532 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.532 * [backup-simplify]: Simplify 0.5 into 0.5 17.532 * [taylor]: Taking taylor expansion of phi2 in phi1 17.532 * [backup-simplify]: Simplify phi2 into phi2 17.532 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.532 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.532 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.532 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.532 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.532 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.532 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.532 * [backup-simplify]: Simplify lambda2 into lambda2 17.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.532 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.532 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.533 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 17.533 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1 17.533 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 17.533 * [taylor]: Taking taylor expansion of 2 in phi1 17.533 * [backup-simplify]: Simplify 2 into 2 17.533 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 17.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.533 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.533 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.533 * [backup-simplify]: Simplify 0.5 into 0.5 17.533 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.533 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.533 * [taylor]: Taking taylor expansion of phi1 in phi1 17.533 * [backup-simplify]: Simplify 0 into 0 17.533 * [backup-simplify]: Simplify 1 into 1 17.533 * [backup-simplify]: Simplify (/ 1 1) into 1 17.533 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.533 * [taylor]: Taking taylor expansion of phi2 in phi1 17.533 * [backup-simplify]: Simplify phi2 into phi2 17.533 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.534 * [backup-simplify]: Simplify (+ 1 0) into 1 17.534 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 17.534 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.534 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.534 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.534 * [backup-simplify]: Simplify lambda2 into lambda2 17.534 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.534 * [backup-simplify]: Simplify lambda1 into lambda1 17.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.534 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.535 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.535 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1 17.535 * [taylor]: Taking taylor expansion of 2 in phi1 17.535 * [backup-simplify]: Simplify 2 into 2 17.535 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1 17.535 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 17.535 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 17.535 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.535 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.535 * [backup-simplify]: Simplify 0.5 into 0.5 17.535 * [taylor]: Taking taylor expansion of phi1 in phi1 17.535 * [backup-simplify]: Simplify 0 into 0 17.535 * [backup-simplify]: Simplify 1 into 1 17.535 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.535 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.535 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 17.535 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 17.535 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 17.535 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.535 * [backup-simplify]: Simplify 0.5 into 0.5 17.535 * [taylor]: Taking taylor expansion of phi1 in phi1 17.535 * [backup-simplify]: Simplify 0 into 0 17.535 * [backup-simplify]: Simplify 1 into 1 17.535 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 17.536 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.536 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 17.536 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 17.536 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.536 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.536 * [backup-simplify]: Simplify 0.5 into 0.5 17.536 * [taylor]: Taking taylor expansion of phi2 in phi1 17.536 * [backup-simplify]: Simplify phi2 into phi2 17.536 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.536 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.536 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.536 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 17.536 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 17.536 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.536 * [backup-simplify]: Simplify 0.5 into 0.5 17.536 * [taylor]: Taking taylor expansion of phi2 in phi1 17.536 * [backup-simplify]: Simplify phi2 into phi2 17.536 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.536 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.536 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.536 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.536 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.536 * [backup-simplify]: Simplify lambda2 into lambda2 17.536 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.536 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.536 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.536 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.536 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.541 * [backup-simplify]: Simplify (- 0) into 0 17.541 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.541 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.542 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.542 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.542 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.542 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) 17.543 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) into (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) 17.544 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) 17.544 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 17.544 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) 17.545 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) 17.546 * [backup-simplify]: Simplify (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 17.548 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (- (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 17.548 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2 17.548 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2 17.548 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 17.548 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.548 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.548 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.548 * [backup-simplify]: Simplify 0.5 into 0.5 17.548 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.548 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.548 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.548 * [backup-simplify]: Simplify phi1 into phi1 17.548 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.548 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.548 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.548 * [backup-simplify]: Simplify phi2 into phi2 17.548 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.548 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.548 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.548 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.548 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.548 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.549 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.549 * [backup-simplify]: Simplify (- 0) into 0 17.549 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.549 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.549 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.549 * [backup-simplify]: Simplify lambda1 into lambda1 17.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.550 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.550 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.550 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2 17.550 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 17.550 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.550 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.550 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.550 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.550 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.550 * [backup-simplify]: Simplify 0.5 into 0.5 17.550 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.550 * [backup-simplify]: Simplify phi1 into phi1 17.550 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.550 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.550 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.550 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.550 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.551 * [backup-simplify]: Simplify (- 0) into 0 17.551 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.551 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.551 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.551 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.551 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.551 * [backup-simplify]: Simplify 0.5 into 0.5 17.551 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.551 * [backup-simplify]: Simplify phi2 into phi2 17.551 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.551 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.551 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.551 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.551 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.551 * [backup-simplify]: Simplify (- 0) into 0 17.552 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.552 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.552 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.552 * [backup-simplify]: Simplify 0 into 0 17.552 * [backup-simplify]: Simplify 1 into 1 17.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.552 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.552 * [backup-simplify]: Simplify (* 1 1) into 1 17.553 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.553 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 17.553 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.553 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.553 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.553 * [backup-simplify]: Simplify 0.5 into 0.5 17.553 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.553 * [backup-simplify]: Simplify phi1 into phi1 17.553 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.553 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.553 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.553 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.553 * [backup-simplify]: Simplify 0.5 into 0.5 17.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.553 * [backup-simplify]: Simplify phi2 into phi2 17.553 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.554 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.554 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.554 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.554 * [backup-simplify]: Simplify 0 into 0 17.554 * [backup-simplify]: Simplify 1 into 1 17.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.554 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.554 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.554 * [backup-simplify]: Simplify (* 1 1) into 1 17.555 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.555 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2 17.555 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 17.555 * [taylor]: Taking taylor expansion of 2 in lambda2 17.555 * [backup-simplify]: Simplify 2 into 2 17.555 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 17.555 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.555 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.555 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.555 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.555 * [backup-simplify]: Simplify 0.5 into 0.5 17.555 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.555 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.555 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.555 * [backup-simplify]: Simplify phi1 into phi1 17.555 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.555 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.555 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.555 * [backup-simplify]: Simplify phi2 into phi2 17.555 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.555 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.555 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.555 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.555 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.555 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.556 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.556 * [backup-simplify]: Simplify (- 0) into 0 17.556 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.556 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.556 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.556 * [backup-simplify]: Simplify 0 into 0 17.556 * [backup-simplify]: Simplify 1 into 1 17.556 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.556 * [backup-simplify]: Simplify lambda1 into lambda1 17.556 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.556 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.557 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.557 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 17.557 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2 17.557 * [taylor]: Taking taylor expansion of 2 in lambda2 17.557 * [backup-simplify]: Simplify 2 into 2 17.557 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2 17.557 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.557 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.557 * [backup-simplify]: Simplify 0.5 into 0.5 17.557 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.557 * [backup-simplify]: Simplify phi1 into phi1 17.557 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.557 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.557 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.557 * [backup-simplify]: Simplify 0.5 into 0.5 17.557 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.557 * [backup-simplify]: Simplify phi1 into phi1 17.557 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.557 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.557 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.557 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.557 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.557 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.557 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.557 * [backup-simplify]: Simplify 0.5 into 0.5 17.557 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.557 * [backup-simplify]: Simplify phi2 into phi2 17.557 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.558 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.558 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.558 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.558 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.558 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.558 * [backup-simplify]: Simplify 0.5 into 0.5 17.558 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.558 * [backup-simplify]: Simplify phi2 into phi2 17.558 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.558 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.558 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.558 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.558 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.558 * [backup-simplify]: Simplify 0 into 0 17.558 * [backup-simplify]: Simplify 1 into 1 17.558 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.558 * [backup-simplify]: Simplify (- 0) into 0 17.558 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.558 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.559 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.559 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.559 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.559 * [backup-simplify]: Simplify (- 0) into 0 17.559 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.559 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.560 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.560 * [backup-simplify]: Simplify (* 1 1) into 1 17.560 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.560 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 17.561 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 17.561 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 17.561 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 17.562 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 17.562 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 17.562 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1 17.562 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1 17.563 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1 17.563 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1 17.563 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 17.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.563 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.563 * [backup-simplify]: Simplify 0.5 into 0.5 17.563 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.563 * [backup-simplify]: Simplify phi1 into phi1 17.563 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.563 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.563 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.563 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1 17.563 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 17.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.563 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.563 * [backup-simplify]: Simplify 0.5 into 0.5 17.563 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.563 * [backup-simplify]: Simplify phi2 into phi2 17.563 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.563 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.563 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.563 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.563 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.563 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1 17.563 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1 17.563 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 17.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.563 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.564 * [backup-simplify]: Simplify 0.5 into 0.5 17.564 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.564 * [backup-simplify]: Simplify phi1 into phi1 17.564 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.564 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.564 * [backup-simplify]: Simplify (- 0) into 0 17.564 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.564 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1 17.564 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 17.564 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.564 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.564 * [backup-simplify]: Simplify 0.5 into 0.5 17.564 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.564 * [backup-simplify]: Simplify phi2 into phi2 17.564 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.564 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.564 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.565 * [backup-simplify]: Simplify (- 0) into 0 17.565 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.565 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1 17.565 * [taylor]: Taking taylor expansion of 2 in lambda1 17.565 * [backup-simplify]: Simplify 2 into 2 17.565 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1 17.565 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 17.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.565 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.565 * [backup-simplify]: Simplify 0.5 into 0.5 17.565 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.565 * [backup-simplify]: Simplify phi1 into phi1 17.565 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.565 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.565 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1 17.565 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 17.565 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 17.565 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.565 * [backup-simplify]: Simplify 0.5 into 0.5 17.565 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.565 * [backup-simplify]: Simplify phi1 into phi1 17.565 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.565 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.565 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.565 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1 17.566 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 17.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.566 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.566 * [backup-simplify]: Simplify 0.5 into 0.5 17.566 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.566 * [backup-simplify]: Simplify phi2 into phi2 17.566 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.566 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 17.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 17.566 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.566 * [backup-simplify]: Simplify 0.5 into 0.5 17.566 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.566 * [backup-simplify]: Simplify phi2 into phi2 17.566 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.566 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.566 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.566 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.566 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.567 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.567 * [backup-simplify]: Simplify (+ 0) into 0 17.567 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.568 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.568 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.569 * [backup-simplify]: Simplify (- 0) into 0 17.569 * [backup-simplify]: Simplify (+ 0 0) into 0 17.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.569 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.569 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.570 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.570 * [backup-simplify]: Simplify (+ 0) into 0 17.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.571 * [backup-simplify]: Simplify (+ 0 0) into 0 17.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.572 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.572 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.572 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.573 * [backup-simplify]: Simplify (+ 0 0) into 0 17.573 * [backup-simplify]: Simplify (+ 0 0) into 0 17.573 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.573 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.573 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.574 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.574 * [backup-simplify]: Simplify (+ 0) into 0 17.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.575 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.576 * [backup-simplify]: Simplify (+ 0 0) into 0 17.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.576 * [backup-simplify]: Simplify (+ 0) into 0 17.576 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.577 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.577 * [backup-simplify]: Simplify (- 0) into 0 17.578 * [backup-simplify]: Simplify (+ 0 0) into 0 17.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.578 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.578 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.579 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into 0 17.579 * [backup-simplify]: Simplify (+ 0 0) into 0 17.579 * [backup-simplify]: Simplify (- 0) into 0 17.580 * [backup-simplify]: Simplify (+ 0 0) into 0 17.580 * [taylor]: Taking taylor expansion of 0 in phi1 17.580 * [backup-simplify]: Simplify 0 into 0 17.580 * [taylor]: Taking taylor expansion of 0 in lambda2 17.580 * [backup-simplify]: Simplify 0 into 0 17.580 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.580 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.580 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.581 * [backup-simplify]: Simplify (+ 0) into 0 17.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.582 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.582 * [backup-simplify]: Simplify (- 0) into 0 17.582 * [backup-simplify]: Simplify (+ 0 0) into 0 17.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.583 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.583 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.583 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.583 * [backup-simplify]: Simplify (+ 0) into 0 17.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.584 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.585 * [backup-simplify]: Simplify (+ 0 0) into 0 17.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.585 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.585 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.586 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.586 * [backup-simplify]: Simplify (+ 0 0) into 0 17.586 * [backup-simplify]: Simplify (+ 0 0) into 0 17.586 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.587 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.587 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.587 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.588 * [backup-simplify]: Simplify (+ 0) into 0 17.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.589 * [backup-simplify]: Simplify (- 0) into 0 17.589 * [backup-simplify]: Simplify (+ 0 0) into 0 17.589 * [backup-simplify]: Simplify (+ 0) into 0 17.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.591 * [backup-simplify]: Simplify (+ 0 0) into 0 17.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.591 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.592 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.592 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) into 0 17.593 * [backup-simplify]: Simplify (+ 0 0) into 0 17.593 * [backup-simplify]: Simplify (- 0) into 0 17.593 * [backup-simplify]: Simplify (+ 0 0) into 0 17.593 * [taylor]: Taking taylor expansion of 0 in lambda2 17.593 * [backup-simplify]: Simplify 0 into 0 17.594 * [backup-simplify]: Simplify (+ 0) into 0 17.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.594 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.595 * [backup-simplify]: Simplify (- 0) into 0 17.595 * [backup-simplify]: Simplify (+ 0 0) into 0 17.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.596 * [backup-simplify]: Simplify (+ 0) into 0 17.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.596 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.597 * [backup-simplify]: Simplify (- 0) into 0 17.597 * [backup-simplify]: Simplify (+ 0 0) into 0 17.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.598 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.598 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.599 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 17.599 * [backup-simplify]: Simplify (+ 0) into 0 17.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.599 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.600 * [backup-simplify]: Simplify (+ 0 0) into 0 17.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.601 * [backup-simplify]: Simplify (+ 0) into 0 17.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.602 * [backup-simplify]: Simplify (+ 0 0) into 0 17.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.603 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.603 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.604 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 17.604 * [backup-simplify]: Simplify (+ 0 0) into 0 17.605 * [backup-simplify]: Simplify (+ 0 0) into 0 17.605 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.605 * [backup-simplify]: Simplify (+ 0) into 0 17.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.606 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.606 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.607 * [backup-simplify]: Simplify (- 0) into 0 17.607 * [backup-simplify]: Simplify (+ 0 0) into 0 17.607 * [backup-simplify]: Simplify (+ 0) into 0 17.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.608 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.609 * [backup-simplify]: Simplify (+ 0 0) into 0 17.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.609 * [backup-simplify]: Simplify (+ 0) into 0 17.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.610 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.611 * [backup-simplify]: Simplify (+ 0 0) into 0 17.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.611 * [backup-simplify]: Simplify (+ 0) into 0 17.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.612 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.613 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.613 * [backup-simplify]: Simplify (- 0) into 0 17.613 * [backup-simplify]: Simplify (+ 0 0) into 0 17.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.614 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.614 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0 17.615 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.615 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.616 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.616 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.616 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1 17.616 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 17.616 * [taylor]: Taking taylor expansion of 2 in lambda1 17.616 * [backup-simplify]: Simplify 2 into 2 17.616 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 17.616 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.616 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.616 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.616 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.616 * [backup-simplify]: Simplify 0.5 into 0.5 17.616 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.616 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.616 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.616 * [backup-simplify]: Simplify phi1 into phi1 17.616 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.616 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.616 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.616 * [backup-simplify]: Simplify phi2 into phi2 17.616 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.616 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.617 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.617 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.617 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.617 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.617 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.617 * [backup-simplify]: Simplify (- 0) into 0 17.617 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.617 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.617 * [backup-simplify]: Simplify 0 into 0 17.617 * [backup-simplify]: Simplify 1 into 1 17.618 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.618 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.618 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.619 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.619 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.620 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.621 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.621 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.622 * [backup-simplify]: Simplify (- 0) into 0 17.622 * [backup-simplify]: Simplify (+ 0 0) into 0 17.622 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.623 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.623 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.624 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.625 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.626 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.626 * [backup-simplify]: Simplify (+ 0 0) into 0 17.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.627 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.628 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.628 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.628 * [backup-simplify]: Simplify (+ 0 0) into 0 17.629 * [backup-simplify]: Simplify (+ 0 0) into 0 17.629 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.629 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.630 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))) (* 0 (/ 0 (* lambda2 lambda1))))) into 0 17.631 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.632 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.634 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.634 * [backup-simplify]: Simplify (+ 0 0) into 0 17.635 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.636 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.637 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.637 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.638 * [backup-simplify]: Simplify (- 0) into 0 17.638 * [backup-simplify]: Simplify (+ 0 0) into 0 17.638 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.639 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.639 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.640 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into 0 17.641 * [backup-simplify]: Simplify (+ 0 0) into 0 17.641 * [backup-simplify]: Simplify (- 0) into 0 17.641 * [backup-simplify]: Simplify (+ 0 0) into 0 17.641 * [taylor]: Taking taylor expansion of 0 in phi1 17.641 * [backup-simplify]: Simplify 0 into 0 17.641 * [taylor]: Taking taylor expansion of 0 in lambda2 17.641 * [backup-simplify]: Simplify 0 into 0 17.641 * [taylor]: Taking taylor expansion of 0 in lambda2 17.641 * [backup-simplify]: Simplify 0 into 0 17.642 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.642 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.643 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.644 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.644 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.644 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.645 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.645 * [backup-simplify]: Simplify (- 0) into 0 17.645 * [backup-simplify]: Simplify (+ 0 0) into 0 17.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.651 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.652 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.652 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.652 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.653 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.653 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.654 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.654 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.655 * [backup-simplify]: Simplify (+ 0 0) into 0 17.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.656 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.656 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.657 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.657 * [backup-simplify]: Simplify (+ 0 0) into 0 17.657 * [backup-simplify]: Simplify (+ 0 0) into 0 17.658 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.658 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.658 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))) (* 0 (/ 0 (* lambda2 lambda1))))) into 0 17.659 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.661 * [backup-simplify]: Simplify (- 0) into 0 17.661 * [backup-simplify]: Simplify (+ 0 0) into 0 17.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.663 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.663 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.664 * [backup-simplify]: Simplify (+ 0 0) into 0 17.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.665 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.666 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.666 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) into 0 17.667 * [backup-simplify]: Simplify (+ 0 0) into 0 17.667 * [backup-simplify]: Simplify (- 0) into 0 17.667 * [backup-simplify]: Simplify (+ 0 0) into 0 17.667 * [taylor]: Taking taylor expansion of 0 in lambda2 17.667 * [backup-simplify]: Simplify 0 into 0 17.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.668 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.668 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.669 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.669 * [backup-simplify]: Simplify (- 0) into 0 17.670 * [backup-simplify]: Simplify (+ 0 0) into 0 17.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.670 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.671 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.672 * [backup-simplify]: Simplify (- 0) into 0 17.672 * [backup-simplify]: Simplify (+ 0 0) into 0 17.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 17.673 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 17.674 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.675 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.676 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.677 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.677 * [backup-simplify]: Simplify (+ 0 0) into 0 17.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 17.678 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.679 * [backup-simplify]: Simplify (+ 0 0) into 0 17.680 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 17.680 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 17.681 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.682 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.682 * [backup-simplify]: Simplify (+ 0 0) into 0 17.682 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.683 * [backup-simplify]: Simplify (+ 0) into 0 17.683 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 17.683 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 17.683 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 17.683 * [backup-simplify]: Simplify (+ 0 0) into 0 17.684 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 17.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.684 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 17.685 * [backup-simplify]: Simplify (- 0) into 0 17.685 * [backup-simplify]: Simplify (+ 0 0) into 0 17.685 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.686 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 17.686 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 17.686 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 17.687 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.688 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.689 * [backup-simplify]: Simplify (- 0) into 0 17.689 * [backup-simplify]: Simplify (+ 0 0) into 0 17.689 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.690 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.691 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.691 * [backup-simplify]: Simplify (+ 0 0) into 0 17.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 17.692 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.692 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.693 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.693 * [backup-simplify]: Simplify (+ 0 0) into 0 17.694 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.695 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.696 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.696 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.696 * [backup-simplify]: Simplify (- 0) into 0 17.697 * [backup-simplify]: Simplify (+ 0 0) into 0 17.697 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.697 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.698 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.699 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0 17.699 * [backup-simplify]: Simplify (+ 0 0) into 0 17.700 * [backup-simplify]: Simplify (- 0) into 0 17.700 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.700 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 17.700 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.700 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.700 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.700 * [taylor]: Taking taylor expansion of 0.5 in lambda1 17.700 * [backup-simplify]: Simplify 0.5 into 0.5 17.700 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.700 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.700 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.700 * [backup-simplify]: Simplify phi1 into phi1 17.700 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.700 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.700 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.700 * [backup-simplify]: Simplify phi2 into phi2 17.700 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.700 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.700 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.700 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.701 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.701 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.701 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.701 * [backup-simplify]: Simplify (- 0) into 0 17.701 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.701 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.701 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.701 * [backup-simplify]: Simplify 0 into 0 17.701 * [backup-simplify]: Simplify 1 into 1 17.701 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.702 * [backup-simplify]: Simplify (* 1 1) into 1 17.702 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.702 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.702 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.702 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.703 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.703 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.704 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.704 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 17.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.704 * [backup-simplify]: Simplify (- 0) into 0 17.704 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.705 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.705 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.705 * [backup-simplify]: Simplify (- 0) into 0 17.705 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.706 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 17.706 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 17.707 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 17.707 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 17.710 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) (pow (* 1 (* (/ 1 (/ 1 lambda2)) (* 1 1))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 lambda2)) (* 1 1)))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) 17.713 * [backup-simplify]: Simplify (- (+ (* (pow (cos (* 0.5 (/ 1 (- phi2)))) 2) (* (pow (cos (* 0.5 (/ 1 (- phi1)))) 2) (pow (/ 1 (- lambda2)) 2))) (+ (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2)) (* (pow (sin (* 0.5 (/ 1 (- phi2)))) 2) (* (pow (/ 1 (- lambda2)) 2) (pow (sin (* 0.5 (/ 1 (- phi1)))) 2))))) (+ (* (cos (* 0.5 (/ 1 (- phi2)))) (* (sin (* 0.5 (/ 1 (- phi1)))) (* (cos (* 0.5 (/ 1 (- phi1)))) (* (sin (* 0.5 (/ 1 (- phi2)))) (pow (/ 1 (- lambda2)) 2))))) (+ (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1))))) (* (cos (* 0.5 (/ 1 (- phi1)))) (* (sin (* 0.5 (/ 1 (- phi2)))) (* (cos (* 0.5 (/ 1 (- phi2)))) (* (sin (* 0.5 (/ 1 (- phi1)))) (pow (/ 1 (- lambda2)) 2)))))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) 17.713 * [approximate]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) in (phi2 phi1 lambda2 lambda1) around 0 17.713 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda1 17.713 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1 17.713 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 17.713 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 17.713 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 17.713 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.713 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.714 * [backup-simplify]: Simplify -0.5 into -0.5 17.714 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.714 * [backup-simplify]: Simplify phi2 into phi2 17.714 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.714 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.714 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.714 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.714 * [backup-simplify]: Simplify (- 0) into 0 17.714 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.714 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 17.714 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.714 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.714 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.714 * [backup-simplify]: Simplify -0.5 into -0.5 17.714 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.714 * [backup-simplify]: Simplify phi1 into phi1 17.714 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.714 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.714 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.715 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.715 * [backup-simplify]: Simplify (- 0) into 0 17.715 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.715 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.715 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.715 * [backup-simplify]: Simplify lambda2 into lambda2 17.715 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.715 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.715 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.715 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.716 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.716 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1 17.716 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 17.716 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.716 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.716 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.716 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.716 * [backup-simplify]: Simplify -0.5 into -0.5 17.716 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.716 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.716 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.716 * [backup-simplify]: Simplify phi1 into phi1 17.716 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.716 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.716 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.716 * [backup-simplify]: Simplify phi2 into phi2 17.716 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.716 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.716 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.716 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.716 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.716 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.716 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.717 * [backup-simplify]: Simplify (- 0) into 0 17.717 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.717 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.717 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.717 * [backup-simplify]: Simplify 0 into 0 17.717 * [backup-simplify]: Simplify 1 into 1 17.717 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.717 * [backup-simplify]: Simplify (* 1 1) into 1 17.718 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.718 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1 17.718 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 17.718 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 17.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.718 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.718 * [backup-simplify]: Simplify -0.5 into -0.5 17.718 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.718 * [backup-simplify]: Simplify phi2 into phi2 17.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.718 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.718 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.718 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.718 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 17.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.718 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.718 * [backup-simplify]: Simplify -0.5 into -0.5 17.718 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.718 * [backup-simplify]: Simplify phi1 into phi1 17.718 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.718 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.718 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.718 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.718 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.719 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.719 * [backup-simplify]: Simplify lambda2 into lambda2 17.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.719 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.719 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.719 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.719 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda1 17.719 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 17.719 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1 17.719 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.719 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.719 * [backup-simplify]: Simplify -0.5 into -0.5 17.719 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.719 * [backup-simplify]: Simplify phi2 into phi2 17.719 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.720 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1 17.720 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.720 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.720 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.720 * [backup-simplify]: Simplify -0.5 into -0.5 17.720 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.720 * [backup-simplify]: Simplify phi2 into phi2 17.720 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.720 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1 17.720 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.720 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.720 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.720 * [backup-simplify]: Simplify -0.5 into -0.5 17.720 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.720 * [backup-simplify]: Simplify phi1 into phi1 17.720 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.720 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.720 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.720 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.720 * [backup-simplify]: Simplify -0.5 into -0.5 17.720 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.720 * [backup-simplify]: Simplify phi1 into phi1 17.720 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.720 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.720 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.720 * [backup-simplify]: Simplify lambda2 into lambda2 17.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.721 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.721 * [backup-simplify]: Simplify (- 0) into 0 17.721 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.721 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.721 * [backup-simplify]: Simplify (- 0) into 0 17.722 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.722 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.722 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 17.722 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) in lambda1 17.722 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 17.722 * [taylor]: Taking taylor expansion of 2 in lambda1 17.722 * [backup-simplify]: Simplify 2 into 2 17.722 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 17.722 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.722 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.722 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.722 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.722 * [backup-simplify]: Simplify -0.5 into -0.5 17.722 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.723 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.723 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.723 * [backup-simplify]: Simplify phi1 into phi1 17.723 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.723 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.723 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.723 * [backup-simplify]: Simplify phi2 into phi2 17.723 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.723 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.723 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.723 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.723 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.723 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.723 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.723 * [backup-simplify]: Simplify (- 0) into 0 17.724 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.724 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 17.724 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.724 * [backup-simplify]: Simplify lambda2 into lambda2 17.724 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.724 * [backup-simplify]: Simplify 0 into 0 17.724 * [backup-simplify]: Simplify 1 into 1 17.724 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.724 * [backup-simplify]: Simplify (* lambda2 0) into 0 17.724 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 17.724 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 17.724 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1 17.724 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 17.724 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.724 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.724 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.724 * [backup-simplify]: Simplify -0.5 into -0.5 17.725 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.725 * [backup-simplify]: Simplify phi2 into phi2 17.725 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.725 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 17.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.725 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.725 * [backup-simplify]: Simplify -0.5 into -0.5 17.725 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.725 * [backup-simplify]: Simplify phi1 into phi1 17.725 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.725 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 17.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.725 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.725 * [backup-simplify]: Simplify -0.5 into -0.5 17.725 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.725 * [backup-simplify]: Simplify phi2 into phi2 17.725 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.725 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.725 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.725 * [backup-simplify]: Simplify -0.5 into -0.5 17.725 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.725 * [backup-simplify]: Simplify phi1 into phi1 17.725 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.725 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 17.725 * [taylor]: Taking taylor expansion of lambda2 in lambda1 17.725 * [backup-simplify]: Simplify lambda2 into lambda2 17.726 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.726 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.726 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.726 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.726 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.726 * [backup-simplify]: Simplify (- 0) into 0 17.726 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.726 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.726 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.726 * [backup-simplify]: Simplify (- 0) into 0 17.727 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.727 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.727 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 17.727 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.727 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.727 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 17.727 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda2 17.727 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 17.727 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.728 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.728 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.728 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.728 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.728 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.728 * [backup-simplify]: Simplify -0.5 into -0.5 17.728 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.728 * [backup-simplify]: Simplify phi2 into phi2 17.728 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.728 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.728 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.728 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.728 * [backup-simplify]: Simplify (- 0) into 0 17.728 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.728 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.728 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.728 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.728 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.728 * [backup-simplify]: Simplify -0.5 into -0.5 17.728 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.728 * [backup-simplify]: Simplify phi1 into phi1 17.728 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.728 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.728 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.729 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.729 * [backup-simplify]: Simplify (- 0) into 0 17.729 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.729 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.729 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.729 * [backup-simplify]: Simplify 0 into 0 17.729 * [backup-simplify]: Simplify 1 into 1 17.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.729 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.730 * [backup-simplify]: Simplify (* 1 1) into 1 17.730 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.730 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 17.730 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 17.730 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.730 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.730 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.730 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.730 * [backup-simplify]: Simplify -0.5 into -0.5 17.730 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.730 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.730 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.730 * [backup-simplify]: Simplify phi1 into phi1 17.730 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.730 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.730 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.730 * [backup-simplify]: Simplify phi2 into phi2 17.730 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.730 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.730 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.730 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.731 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.731 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.731 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.731 * [backup-simplify]: Simplify (- 0) into 0 17.731 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.731 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.731 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.731 * [backup-simplify]: Simplify lambda1 into lambda1 17.731 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.731 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.732 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.732 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.732 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.732 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.732 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.732 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.732 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.732 * [backup-simplify]: Simplify -0.5 into -0.5 17.732 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.732 * [backup-simplify]: Simplify phi2 into phi2 17.732 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.732 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.732 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.732 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.732 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.732 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.732 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.732 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.732 * [backup-simplify]: Simplify -0.5 into -0.5 17.732 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.732 * [backup-simplify]: Simplify phi1 into phi1 17.732 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.732 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.732 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.733 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.733 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.733 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.733 * [backup-simplify]: Simplify 0 into 0 17.733 * [backup-simplify]: Simplify 1 into 1 17.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.733 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.733 * [backup-simplify]: Simplify (* 1 1) into 1 17.733 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.733 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda2 17.734 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 17.734 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 17.734 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.734 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.734 * [backup-simplify]: Simplify -0.5 into -0.5 17.734 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.734 * [backup-simplify]: Simplify phi2 into phi2 17.734 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.734 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.734 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 17.734 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.734 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.734 * [backup-simplify]: Simplify -0.5 into -0.5 17.734 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.734 * [backup-simplify]: Simplify phi2 into phi2 17.734 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.734 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.734 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 17.734 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.734 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.734 * [backup-simplify]: Simplify -0.5 into -0.5 17.734 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.734 * [backup-simplify]: Simplify phi1 into phi1 17.734 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.734 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.734 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.734 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.734 * [backup-simplify]: Simplify -0.5 into -0.5 17.734 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.734 * [backup-simplify]: Simplify phi1 into phi1 17.734 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.735 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.735 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.735 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.735 * [backup-simplify]: Simplify 0 into 0 17.735 * [backup-simplify]: Simplify 1 into 1 17.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.735 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.735 * [backup-simplify]: Simplify (- 0) into 0 17.735 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.735 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.736 * [backup-simplify]: Simplify (- 0) into 0 17.736 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.736 * [backup-simplify]: Simplify (* 1 1) into 1 17.737 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 17.737 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) in lambda2 17.737 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 17.737 * [taylor]: Taking taylor expansion of 2 in lambda2 17.737 * [backup-simplify]: Simplify 2 into 2 17.737 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 17.737 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.737 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.737 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.737 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.737 * [backup-simplify]: Simplify -0.5 into -0.5 17.737 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.737 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.737 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.737 * [backup-simplify]: Simplify phi1 into phi1 17.737 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.737 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.737 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.737 * [backup-simplify]: Simplify phi2 into phi2 17.737 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.737 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.737 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.737 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.737 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.737 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.738 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.738 * [backup-simplify]: Simplify (- 0) into 0 17.738 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.738 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.738 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.738 * [backup-simplify]: Simplify 0 into 0 17.738 * [backup-simplify]: Simplify 1 into 1 17.738 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.738 * [backup-simplify]: Simplify lambda1 into lambda1 17.738 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.738 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.739 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.739 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 17.739 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 17.739 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 17.739 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.739 * [backup-simplify]: Simplify -0.5 into -0.5 17.739 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.739 * [backup-simplify]: Simplify phi2 into phi2 17.739 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.739 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 17.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.739 * [backup-simplify]: Simplify -0.5 into -0.5 17.739 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.739 * [backup-simplify]: Simplify phi1 into phi1 17.739 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.739 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 17.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.739 * [backup-simplify]: Simplify -0.5 into -0.5 17.739 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.739 * [backup-simplify]: Simplify phi2 into phi2 17.739 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.740 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.740 * [backup-simplify]: Simplify -0.5 into -0.5 17.740 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.740 * [backup-simplify]: Simplify phi1 into phi1 17.740 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.740 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.740 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.740 * [backup-simplify]: Simplify 0 into 0 17.740 * [backup-simplify]: Simplify 1 into 1 17.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.740 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.740 * [backup-simplify]: Simplify (- 0) into 0 17.740 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.741 * [backup-simplify]: Simplify (- 0) into 0 17.741 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.741 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 17.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.742 * [backup-simplify]: Simplify (* 1 1) into 1 17.742 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.742 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) in phi1 17.742 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 17.742 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.742 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 17.742 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 17.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.742 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.742 * [backup-simplify]: Simplify -0.5 into -0.5 17.742 * [taylor]: Taking taylor expansion of phi2 in phi1 17.742 * [backup-simplify]: Simplify phi2 into phi2 17.742 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.742 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.743 * [backup-simplify]: Simplify (- 0) into 0 17.743 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.743 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 17.743 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.743 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.743 * [backup-simplify]: Simplify -0.5 into -0.5 17.743 * [taylor]: Taking taylor expansion of phi1 in phi1 17.743 * [backup-simplify]: Simplify 0 into 0 17.743 * [backup-simplify]: Simplify 1 into 1 17.743 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.743 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.743 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.743 * [backup-simplify]: Simplify lambda2 into lambda2 17.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.744 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.744 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.744 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.744 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 17.744 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 17.744 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.744 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.744 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.744 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.744 * [backup-simplify]: Simplify -0.5 into -0.5 17.744 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.744 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.744 * [taylor]: Taking taylor expansion of phi1 in phi1 17.744 * [backup-simplify]: Simplify 0 into 0 17.744 * [backup-simplify]: Simplify 1 into 1 17.745 * [backup-simplify]: Simplify (/ 1 1) into 1 17.745 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.745 * [taylor]: Taking taylor expansion of phi2 in phi1 17.745 * [backup-simplify]: Simplify phi2 into phi2 17.745 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.745 * [backup-simplify]: Simplify (+ 1 0) into 1 17.745 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.745 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.745 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.745 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.745 * [backup-simplify]: Simplify lambda1 into lambda1 17.746 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.746 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.746 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.746 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.746 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 17.746 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 17.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.746 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.746 * [backup-simplify]: Simplify -0.5 into -0.5 17.746 * [taylor]: Taking taylor expansion of phi2 in phi1 17.746 * [backup-simplify]: Simplify phi2 into phi2 17.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.746 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.746 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.746 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.746 * [backup-simplify]: Simplify -0.5 into -0.5 17.746 * [taylor]: Taking taylor expansion of phi1 in phi1 17.747 * [backup-simplify]: Simplify 0 into 0 17.747 * [backup-simplify]: Simplify 1 into 1 17.747 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.747 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.747 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.747 * [backup-simplify]: Simplify lambda2 into lambda2 17.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.747 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.747 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.748 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.748 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) in phi1 17.748 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 17.748 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi1 17.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.748 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.748 * [backup-simplify]: Simplify -0.5 into -0.5 17.748 * [taylor]: Taking taylor expansion of phi2 in phi1 17.748 * [backup-simplify]: Simplify phi2 into phi2 17.748 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.748 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi1 17.748 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.748 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.748 * [backup-simplify]: Simplify -0.5 into -0.5 17.748 * [taylor]: Taking taylor expansion of phi2 in phi1 17.748 * [backup-simplify]: Simplify phi2 into phi2 17.748 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.748 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi1 17.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.748 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.748 * [backup-simplify]: Simplify -0.5 into -0.5 17.748 * [taylor]: Taking taylor expansion of phi1 in phi1 17.748 * [backup-simplify]: Simplify 0 into 0 17.748 * [backup-simplify]: Simplify 1 into 1 17.749 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.749 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.749 * [backup-simplify]: Simplify -0.5 into -0.5 17.749 * [taylor]: Taking taylor expansion of phi1 in phi1 17.749 * [backup-simplify]: Simplify 0 into 0 17.749 * [backup-simplify]: Simplify 1 into 1 17.749 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.749 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.749 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.749 * [backup-simplify]: Simplify lambda2 into lambda2 17.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.750 * [backup-simplify]: Simplify (- 0) into 0 17.750 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.750 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.751 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 17.751 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) in phi1 17.751 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 17.751 * [taylor]: Taking taylor expansion of 2 in phi1 17.751 * [backup-simplify]: Simplify 2 into 2 17.751 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 17.751 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.751 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.751 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.751 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.751 * [backup-simplify]: Simplify -0.5 into -0.5 17.751 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.751 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.751 * [taylor]: Taking taylor expansion of phi1 in phi1 17.751 * [backup-simplify]: Simplify 0 into 0 17.751 * [backup-simplify]: Simplify 1 into 1 17.755 * [backup-simplify]: Simplify (/ 1 1) into 1 17.756 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.756 * [taylor]: Taking taylor expansion of phi2 in phi1 17.756 * [backup-simplify]: Simplify phi2 into phi2 17.756 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.756 * [backup-simplify]: Simplify (+ 1 0) into 1 17.756 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.756 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.756 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.756 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.757 * [backup-simplify]: Simplify lambda2 into lambda2 17.757 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.757 * [backup-simplify]: Simplify lambda1 into lambda1 17.757 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.757 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.757 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.757 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 17.757 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 17.757 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.757 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.757 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.757 * [backup-simplify]: Simplify -0.5 into -0.5 17.757 * [taylor]: Taking taylor expansion of phi2 in phi1 17.757 * [backup-simplify]: Simplify phi2 into phi2 17.757 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.757 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.757 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.757 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 17.757 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.757 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.757 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.757 * [backup-simplify]: Simplify -0.5 into -0.5 17.757 * [taylor]: Taking taylor expansion of phi1 in phi1 17.757 * [backup-simplify]: Simplify 0 into 0 17.757 * [backup-simplify]: Simplify 1 into 1 17.758 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.758 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.758 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 17.758 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.758 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.758 * [backup-simplify]: Simplify -0.5 into -0.5 17.758 * [taylor]: Taking taylor expansion of phi2 in phi1 17.758 * [backup-simplify]: Simplify phi2 into phi2 17.758 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.758 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.758 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.758 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.758 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.758 * [backup-simplify]: Simplify -0.5 into -0.5 17.758 * [taylor]: Taking taylor expansion of phi1 in phi1 17.758 * [backup-simplify]: Simplify 0 into 0 17.758 * [backup-simplify]: Simplify 1 into 1 17.758 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.759 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.759 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.759 * [backup-simplify]: Simplify lambda2 into lambda2 17.759 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.759 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.759 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.759 * [backup-simplify]: Simplify (- 0) into 0 17.759 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 17.760 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.760 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.760 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 17.760 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) in phi2 17.760 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 17.760 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.760 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 17.760 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 17.760 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.760 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.760 * [backup-simplify]: Simplify -0.5 into -0.5 17.760 * [taylor]: Taking taylor expansion of phi2 in phi2 17.760 * [backup-simplify]: Simplify 0 into 0 17.760 * [backup-simplify]: Simplify 1 into 1 17.760 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.760 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.761 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 17.761 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.761 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.761 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.761 * [backup-simplify]: Simplify -0.5 into -0.5 17.761 * [taylor]: Taking taylor expansion of phi1 in phi2 17.761 * [backup-simplify]: Simplify phi1 into phi1 17.761 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.761 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.761 * [backup-simplify]: Simplify (- 0) into 0 17.761 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.761 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.761 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.761 * [backup-simplify]: Simplify lambda2 into lambda2 17.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.762 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.762 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.762 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.762 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 17.762 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 17.762 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.762 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.762 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.762 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.762 * [backup-simplify]: Simplify -0.5 into -0.5 17.762 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.762 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.762 * [taylor]: Taking taylor expansion of phi1 in phi2 17.762 * [backup-simplify]: Simplify phi1 into phi1 17.762 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.762 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.762 * [taylor]: Taking taylor expansion of phi2 in phi2 17.762 * [backup-simplify]: Simplify 0 into 0 17.762 * [backup-simplify]: Simplify 1 into 1 17.762 * [backup-simplify]: Simplify (/ 1 1) into 1 17.763 * [backup-simplify]: Simplify (+ 0 1) into 1 17.763 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.763 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.763 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.763 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.763 * [backup-simplify]: Simplify lambda1 into lambda1 17.763 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.763 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.764 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.764 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.764 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 17.764 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 17.764 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.764 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.764 * [backup-simplify]: Simplify -0.5 into -0.5 17.764 * [taylor]: Taking taylor expansion of phi2 in phi2 17.764 * [backup-simplify]: Simplify 0 into 0 17.764 * [backup-simplify]: Simplify 1 into 1 17.764 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.764 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 17.764 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.764 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.764 * [backup-simplify]: Simplify -0.5 into -0.5 17.764 * [taylor]: Taking taylor expansion of phi1 in phi2 17.764 * [backup-simplify]: Simplify phi1 into phi1 17.764 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.765 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.765 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.765 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.765 * [backup-simplify]: Simplify lambda2 into lambda2 17.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.765 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.765 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.765 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.765 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) in phi2 17.765 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 17.765 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 17.765 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.766 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.766 * [backup-simplify]: Simplify -0.5 into -0.5 17.766 * [taylor]: Taking taylor expansion of phi2 in phi2 17.766 * [backup-simplify]: Simplify 0 into 0 17.766 * [backup-simplify]: Simplify 1 into 1 17.766 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.766 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.766 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 17.766 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.766 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.766 * [backup-simplify]: Simplify -0.5 into -0.5 17.766 * [taylor]: Taking taylor expansion of phi2 in phi2 17.766 * [backup-simplify]: Simplify 0 into 0 17.766 * [backup-simplify]: Simplify 1 into 1 17.766 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.766 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.766 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 17.766 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.767 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.767 * [backup-simplify]: Simplify -0.5 into -0.5 17.767 * [taylor]: Taking taylor expansion of phi1 in phi2 17.767 * [backup-simplify]: Simplify phi1 into phi1 17.767 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.767 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.767 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.767 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.767 * [backup-simplify]: Simplify -0.5 into -0.5 17.767 * [taylor]: Taking taylor expansion of phi1 in phi2 17.767 * [backup-simplify]: Simplify phi1 into phi1 17.767 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.767 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.767 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.767 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.767 * [backup-simplify]: Simplify lambda2 into lambda2 17.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.767 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.767 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.767 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.768 * [backup-simplify]: Simplify (- 0) into 0 17.768 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.768 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.768 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.768 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 17.768 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) in phi2 17.768 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 17.768 * [taylor]: Taking taylor expansion of 2 in phi2 17.768 * [backup-simplify]: Simplify 2 into 2 17.768 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 17.768 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.768 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.768 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.769 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.769 * [backup-simplify]: Simplify -0.5 into -0.5 17.769 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.769 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.769 * [taylor]: Taking taylor expansion of phi1 in phi2 17.769 * [backup-simplify]: Simplify phi1 into phi1 17.769 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.769 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.769 * [taylor]: Taking taylor expansion of phi2 in phi2 17.769 * [backup-simplify]: Simplify 0 into 0 17.769 * [backup-simplify]: Simplify 1 into 1 17.769 * [backup-simplify]: Simplify (/ 1 1) into 1 17.769 * [backup-simplify]: Simplify (+ 0 1) into 1 17.769 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.770 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.770 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 17.770 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.770 * [backup-simplify]: Simplify lambda2 into lambda2 17.770 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.770 * [backup-simplify]: Simplify lambda1 into lambda1 17.770 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.770 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.770 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.770 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 17.770 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 17.770 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.770 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.770 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.770 * [backup-simplify]: Simplify -0.5 into -0.5 17.770 * [taylor]: Taking taylor expansion of phi2 in phi2 17.770 * [backup-simplify]: Simplify 0 into 0 17.770 * [backup-simplify]: Simplify 1 into 1 17.771 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.771 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.771 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 17.771 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.771 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.771 * [backup-simplify]: Simplify -0.5 into -0.5 17.771 * [taylor]: Taking taylor expansion of phi1 in phi2 17.771 * [backup-simplify]: Simplify phi1 into phi1 17.771 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.771 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.771 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.771 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 17.771 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.771 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.771 * [backup-simplify]: Simplify -0.5 into -0.5 17.771 * [taylor]: Taking taylor expansion of phi2 in phi2 17.771 * [backup-simplify]: Simplify 0 into 0 17.771 * [backup-simplify]: Simplify 1 into 1 17.771 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.771 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.771 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.771 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.771 * [backup-simplify]: Simplify -0.5 into -0.5 17.771 * [taylor]: Taking taylor expansion of phi1 in phi2 17.771 * [backup-simplify]: Simplify phi1 into phi1 17.772 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.772 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.772 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.772 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.772 * [backup-simplify]: Simplify lambda2 into lambda2 17.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.772 * [backup-simplify]: Simplify (- 0) into 0 17.772 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.772 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.773 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 17.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.773 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.773 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 17.773 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) in phi2 17.773 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2 17.773 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.773 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 17.773 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 17.773 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.773 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.773 * [backup-simplify]: Simplify -0.5 into -0.5 17.773 * [taylor]: Taking taylor expansion of phi2 in phi2 17.773 * [backup-simplify]: Simplify 0 into 0 17.773 * [backup-simplify]: Simplify 1 into 1 17.774 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.774 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 17.774 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.774 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.774 * [backup-simplify]: Simplify -0.5 into -0.5 17.774 * [taylor]: Taking taylor expansion of phi1 in phi2 17.774 * [backup-simplify]: Simplify phi1 into phi1 17.774 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.774 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.774 * [backup-simplify]: Simplify (- 0) into 0 17.774 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.774 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.774 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.774 * [backup-simplify]: Simplify lambda2 into lambda2 17.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.775 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.775 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.775 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.775 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.775 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2 17.775 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 17.775 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.775 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.775 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.775 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.775 * [backup-simplify]: Simplify -0.5 into -0.5 17.775 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.775 * [taylor]: Taking taylor expansion of phi1 in phi2 17.775 * [backup-simplify]: Simplify phi1 into phi1 17.775 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.775 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.775 * [taylor]: Taking taylor expansion of phi2 in phi2 17.775 * [backup-simplify]: Simplify 0 into 0 17.775 * [backup-simplify]: Simplify 1 into 1 17.776 * [backup-simplify]: Simplify (/ 1 1) into 1 17.776 * [backup-simplify]: Simplify (+ 0 1) into 1 17.776 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.776 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.776 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 17.776 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.776 * [backup-simplify]: Simplify lambda1 into lambda1 17.777 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.777 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.777 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.777 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 17.777 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 17.777 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 17.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.777 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.777 * [backup-simplify]: Simplify -0.5 into -0.5 17.777 * [taylor]: Taking taylor expansion of phi2 in phi2 17.777 * [backup-simplify]: Simplify 0 into 0 17.777 * [backup-simplify]: Simplify 1 into 1 17.777 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.777 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 17.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.777 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.777 * [backup-simplify]: Simplify -0.5 into -0.5 17.777 * [taylor]: Taking taylor expansion of phi1 in phi2 17.777 * [backup-simplify]: Simplify phi1 into phi1 17.778 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.778 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.778 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.778 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.778 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.778 * [backup-simplify]: Simplify lambda2 into lambda2 17.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.778 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.778 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.779 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.779 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) in phi2 17.779 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 17.779 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 17.779 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.779 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.779 * [backup-simplify]: Simplify -0.5 into -0.5 17.779 * [taylor]: Taking taylor expansion of phi2 in phi2 17.779 * [backup-simplify]: Simplify 0 into 0 17.779 * [backup-simplify]: Simplify 1 into 1 17.779 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.779 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 17.779 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.779 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.779 * [backup-simplify]: Simplify -0.5 into -0.5 17.779 * [taylor]: Taking taylor expansion of phi2 in phi2 17.779 * [backup-simplify]: Simplify 0 into 0 17.779 * [backup-simplify]: Simplify 1 into 1 17.780 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.780 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 17.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.780 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.780 * [backup-simplify]: Simplify -0.5 into -0.5 17.780 * [taylor]: Taking taylor expansion of phi1 in phi2 17.780 * [backup-simplify]: Simplify phi1 into phi1 17.780 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.780 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.780 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.780 * [backup-simplify]: Simplify -0.5 into -0.5 17.780 * [taylor]: Taking taylor expansion of phi1 in phi2 17.780 * [backup-simplify]: Simplify phi1 into phi1 17.780 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.780 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.780 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.780 * [backup-simplify]: Simplify lambda2 into lambda2 17.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.781 * [backup-simplify]: Simplify (- 0) into 0 17.781 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.781 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.782 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) 17.782 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) in phi2 17.782 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 17.782 * [taylor]: Taking taylor expansion of 2 in phi2 17.782 * [backup-simplify]: Simplify 2 into 2 17.782 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 17.782 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 17.782 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 17.782 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 17.782 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.782 * [backup-simplify]: Simplify -0.5 into -0.5 17.782 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 17.782 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 17.782 * [taylor]: Taking taylor expansion of phi1 in phi2 17.782 * [backup-simplify]: Simplify phi1 into phi1 17.782 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.782 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 17.782 * [taylor]: Taking taylor expansion of phi2 in phi2 17.782 * [backup-simplify]: Simplify 0 into 0 17.782 * [backup-simplify]: Simplify 1 into 1 17.782 * [backup-simplify]: Simplify (/ 1 1) into 1 17.783 * [backup-simplify]: Simplify (+ 0 1) into 1 17.783 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.783 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.783 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 17.783 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.783 * [backup-simplify]: Simplify lambda2 into lambda2 17.783 * [taylor]: Taking taylor expansion of lambda1 in phi2 17.783 * [backup-simplify]: Simplify lambda1 into lambda1 17.783 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.783 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.784 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.784 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2 17.784 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 17.784 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 17.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.784 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.784 * [backup-simplify]: Simplify -0.5 into -0.5 17.784 * [taylor]: Taking taylor expansion of phi2 in phi2 17.784 * [backup-simplify]: Simplify 0 into 0 17.784 * [backup-simplify]: Simplify 1 into 1 17.784 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.784 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 17.784 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 17.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.784 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.784 * [backup-simplify]: Simplify -0.5 into -0.5 17.784 * [taylor]: Taking taylor expansion of phi1 in phi2 17.784 * [backup-simplify]: Simplify phi1 into phi1 17.784 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.784 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 17.784 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 17.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 17.785 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.785 * [backup-simplify]: Simplify -0.5 into -0.5 17.785 * [taylor]: Taking taylor expansion of phi2 in phi2 17.785 * [backup-simplify]: Simplify 0 into 0 17.785 * [backup-simplify]: Simplify 1 into 1 17.785 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.785 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 17.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 17.785 * [taylor]: Taking taylor expansion of -0.5 in phi2 17.785 * [backup-simplify]: Simplify -0.5 into -0.5 17.785 * [taylor]: Taking taylor expansion of phi1 in phi2 17.785 * [backup-simplify]: Simplify phi1 into phi1 17.785 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.785 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 17.785 * [taylor]: Taking taylor expansion of lambda2 in phi2 17.785 * [backup-simplify]: Simplify lambda2 into lambda2 17.785 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.785 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.786 * [backup-simplify]: Simplify (- 0) into 0 17.786 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.786 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 17.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 17.786 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.787 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 17.787 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 17.788 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 17.789 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 17.789 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) into (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 17.790 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 17.792 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) into (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) 17.794 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 17.794 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 17.795 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1 17.795 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.795 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 17.795 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 17.795 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.795 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.795 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.795 * [backup-simplify]: Simplify -0.5 into -0.5 17.795 * [taylor]: Taking taylor expansion of phi2 in phi1 17.795 * [backup-simplify]: Simplify phi2 into phi2 17.795 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.795 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.795 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.795 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.796 * [backup-simplify]: Simplify (- 0) into 0 17.796 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.796 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 17.796 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.796 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.796 * [backup-simplify]: Simplify -0.5 into -0.5 17.796 * [taylor]: Taking taylor expansion of phi1 in phi1 17.796 * [backup-simplify]: Simplify 0 into 0 17.796 * [backup-simplify]: Simplify 1 into 1 17.796 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.796 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.796 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.796 * [backup-simplify]: Simplify lambda2 into lambda2 17.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.797 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.797 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.797 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.797 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.797 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1 17.797 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 17.797 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.797 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.797 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.797 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.797 * [backup-simplify]: Simplify -0.5 into -0.5 17.797 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.797 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.797 * [taylor]: Taking taylor expansion of phi1 in phi1 17.797 * [backup-simplify]: Simplify 0 into 0 17.797 * [backup-simplify]: Simplify 1 into 1 17.798 * [backup-simplify]: Simplify (/ 1 1) into 1 17.798 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.798 * [taylor]: Taking taylor expansion of phi2 in phi1 17.798 * [backup-simplify]: Simplify phi2 into phi2 17.798 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.798 * [backup-simplify]: Simplify (+ 1 0) into 1 17.799 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.799 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.799 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 17.799 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.799 * [backup-simplify]: Simplify lambda1 into lambda1 17.799 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.799 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.799 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.799 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 17.799 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 17.799 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 17.799 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.799 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.799 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.799 * [backup-simplify]: Simplify -0.5 into -0.5 17.800 * [taylor]: Taking taylor expansion of phi2 in phi1 17.800 * [backup-simplify]: Simplify phi2 into phi2 17.800 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.800 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.800 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.800 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.800 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.800 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 17.800 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.800 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.800 * [backup-simplify]: Simplify -0.5 into -0.5 17.800 * [taylor]: Taking taylor expansion of phi1 in phi1 17.800 * [backup-simplify]: Simplify 0 into 0 17.800 * [backup-simplify]: Simplify 1 into 1 17.800 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.801 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.801 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.801 * [backup-simplify]: Simplify lambda2 into lambda2 17.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.801 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.801 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.801 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 17.801 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 17.801 * [taylor]: Taking taylor expansion of (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) in phi1 17.801 * [taylor]: Taking taylor expansion of 2 in phi1 17.801 * [backup-simplify]: Simplify 2 into 2 17.801 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1 17.802 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1 17.802 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 17.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.802 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.802 * [backup-simplify]: Simplify -0.5 into -0.5 17.802 * [taylor]: Taking taylor expansion of phi2 in phi1 17.802 * [backup-simplify]: Simplify phi2 into phi2 17.802 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1 17.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 17.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 17.802 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.802 * [backup-simplify]: Simplify -0.5 into -0.5 17.802 * [taylor]: Taking taylor expansion of phi2 in phi1 17.802 * [backup-simplify]: Simplify phi2 into phi2 17.802 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1 17.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 17.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.802 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.802 * [backup-simplify]: Simplify -0.5 into -0.5 17.802 * [taylor]: Taking taylor expansion of phi1 in phi1 17.802 * [backup-simplify]: Simplify 0 into 0 17.802 * [backup-simplify]: Simplify 1 into 1 17.803 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.803 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 17.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 17.803 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.803 * [backup-simplify]: Simplify -0.5 into -0.5 17.803 * [taylor]: Taking taylor expansion of phi1 in phi1 17.803 * [backup-simplify]: Simplify 0 into 0 17.803 * [backup-simplify]: Simplify 1 into 1 17.803 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 17.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.803 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.803 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.803 * [backup-simplify]: Simplify lambda2 into lambda2 17.803 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.803 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.804 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.804 * [backup-simplify]: Simplify (- 0) into 0 17.804 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 17.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 17.804 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 17.804 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 17.805 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) 17.805 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 17.805 * [taylor]: Taking taylor expansion of 2 in phi1 17.805 * [backup-simplify]: Simplify 2 into 2 17.805 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 17.805 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 17.805 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 17.805 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 17.805 * [taylor]: Taking taylor expansion of -0.5 in phi1 17.805 * [backup-simplify]: Simplify -0.5 into -0.5 17.805 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 17.805 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 17.805 * [taylor]: Taking taylor expansion of phi1 in phi1 17.805 * [backup-simplify]: Simplify 0 into 0 17.805 * [backup-simplify]: Simplify 1 into 1 17.805 * [backup-simplify]: Simplify (/ 1 1) into 1 17.805 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 17.805 * [taylor]: Taking taylor expansion of phi2 in phi1 17.805 * [backup-simplify]: Simplify phi2 into phi2 17.805 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.806 * [backup-simplify]: Simplify (+ 1 0) into 1 17.806 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 17.806 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.806 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 17.806 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.806 * [backup-simplify]: Simplify lambda2 into lambda2 17.806 * [taylor]: Taking taylor expansion of lambda1 in phi1 17.806 * [backup-simplify]: Simplify lambda1 into lambda1 17.806 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.806 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 17.807 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 17.807 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) 17.808 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) 17.809 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))) into (* 2 (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))) 17.809 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) 17.809 * [backup-simplify]: Simplify (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into (+ (* 2 (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) 17.810 * [backup-simplify]: Simplify (- (+ (* 2 (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 17.812 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) 17.812 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 17.812 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2 17.812 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.812 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 17.812 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 17.812 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.812 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.812 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.813 * [backup-simplify]: Simplify -0.5 into -0.5 17.813 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.813 * [backup-simplify]: Simplify phi2 into phi2 17.813 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.813 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.813 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.813 * [backup-simplify]: Simplify (- 0) into 0 17.814 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.814 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 17.814 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.814 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.814 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.814 * [backup-simplify]: Simplify -0.5 into -0.5 17.814 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.814 * [backup-simplify]: Simplify phi1 into phi1 17.814 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.814 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.814 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.814 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.814 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.814 * [backup-simplify]: Simplify (- 0) into 0 17.814 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.814 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.814 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.814 * [backup-simplify]: Simplify 0 into 0 17.814 * [backup-simplify]: Simplify 1 into 1 17.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.815 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.815 * [backup-simplify]: Simplify (* 1 1) into 1 17.816 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.816 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2 17.816 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 17.816 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.816 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.816 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.816 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.816 * [backup-simplify]: Simplify -0.5 into -0.5 17.816 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.816 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.816 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.816 * [backup-simplify]: Simplify phi1 into phi1 17.816 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.816 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.816 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.816 * [backup-simplify]: Simplify phi2 into phi2 17.816 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.816 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.816 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.817 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.817 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.817 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.817 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.818 * [backup-simplify]: Simplify (- 0) into 0 17.818 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.818 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 17.818 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.818 * [backup-simplify]: Simplify lambda1 into lambda1 17.818 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.818 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 17.818 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.818 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 17.818 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 17.818 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 17.819 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.819 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.819 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.819 * [backup-simplify]: Simplify -0.5 into -0.5 17.819 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.819 * [backup-simplify]: Simplify phi2 into phi2 17.819 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.819 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.819 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.819 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.819 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 17.819 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.819 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.819 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.819 * [backup-simplify]: Simplify -0.5 into -0.5 17.819 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.819 * [backup-simplify]: Simplify phi1 into phi1 17.819 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.819 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.819 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.819 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.819 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.820 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.820 * [backup-simplify]: Simplify 0 into 0 17.820 * [backup-simplify]: Simplify 1 into 1 17.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.820 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.820 * [backup-simplify]: Simplify (* 1 1) into 1 17.821 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.821 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 17.821 * [taylor]: Taking taylor expansion of (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda2 17.821 * [taylor]: Taking taylor expansion of 2 in lambda2 17.821 * [backup-simplify]: Simplify 2 into 2 17.821 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2 17.821 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 17.821 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 17.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.821 * [backup-simplify]: Simplify -0.5 into -0.5 17.821 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.821 * [backup-simplify]: Simplify phi2 into phi2 17.821 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.821 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 17.821 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 17.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 17.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.821 * [backup-simplify]: Simplify -0.5 into -0.5 17.821 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.821 * [backup-simplify]: Simplify phi2 into phi2 17.821 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.821 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 17.821 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 17.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.821 * [backup-simplify]: Simplify -0.5 into -0.5 17.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.822 * [backup-simplify]: Simplify phi1 into phi1 17.822 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.822 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.822 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 17.822 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 17.822 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.822 * [backup-simplify]: Simplify -0.5 into -0.5 17.822 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.822 * [backup-simplify]: Simplify phi1 into phi1 17.822 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.822 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.822 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.822 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.822 * [backup-simplify]: Simplify 0 into 0 17.822 * [backup-simplify]: Simplify 1 into 1 17.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.822 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.823 * [backup-simplify]: Simplify (- 0) into 0 17.823 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.823 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.823 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.823 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.823 * [backup-simplify]: Simplify (- 0) into 0 17.823 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 17.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 17.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 17.824 * [backup-simplify]: Simplify (* 1 1) into 1 17.824 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 17.824 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 17.824 * [taylor]: Taking taylor expansion of 2 in lambda2 17.824 * [backup-simplify]: Simplify 2 into 2 17.824 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 17.825 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 17.825 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 17.825 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 17.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2 17.825 * [backup-simplify]: Simplify -0.5 into -0.5 17.825 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 17.825 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 17.825 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.825 * [backup-simplify]: Simplify phi1 into phi1 17.825 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.825 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 17.825 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.825 * [backup-simplify]: Simplify phi2 into phi2 17.825 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.825 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.825 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.825 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.825 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.825 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.825 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.826 * [backup-simplify]: Simplify (- 0) into 0 17.826 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.826 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 17.826 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.826 * [backup-simplify]: Simplify 0 into 0 17.826 * [backup-simplify]: Simplify 1 into 1 17.826 * [taylor]: Taking taylor expansion of lambda1 in lambda2 17.826 * [backup-simplify]: Simplify lambda1 into lambda1 17.826 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.826 * [backup-simplify]: Simplify (* 0 lambda1) into 0 17.826 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 17.827 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 17.827 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.827 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 17.828 * [backup-simplify]: Simplify (* 2 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (* 2 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 17.828 * [backup-simplify]: Simplify (+ (* 2 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 0) into (* 2 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) 17.828 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (* 2 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 17.830 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (* 2 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (* 2 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 17.830 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (* 2 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) in lambda1 17.830 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1 17.830 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1 17.830 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1 17.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.830 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.830 * [backup-simplify]: Simplify -0.5 into -0.5 17.830 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.830 * [backup-simplify]: Simplify phi2 into phi2 17.830 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.831 * [backup-simplify]: Simplify (- 0) into 0 17.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.831 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1 17.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.831 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.831 * [backup-simplify]: Simplify -0.5 into -0.5 17.831 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.831 * [backup-simplify]: Simplify phi1 into phi1 17.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.832 * [backup-simplify]: Simplify (- 0) into 0 17.832 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.832 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1 17.832 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1 17.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.832 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.832 * [backup-simplify]: Simplify -0.5 into -0.5 17.832 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.832 * [backup-simplify]: Simplify phi2 into phi2 17.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.832 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.832 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1 17.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.832 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.832 * [backup-simplify]: Simplify -0.5 into -0.5 17.832 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.832 * [backup-simplify]: Simplify phi1 into phi1 17.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.833 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in lambda1 17.833 * [taylor]: Taking taylor expansion of 2 in lambda1 17.833 * [backup-simplify]: Simplify 2 into 2 17.833 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 17.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 17.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.833 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.833 * [backup-simplify]: Simplify -0.5 into -0.5 17.833 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.833 * [backup-simplify]: Simplify phi1 into phi1 17.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.833 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 17.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 17.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.833 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.833 * [backup-simplify]: Simplify -0.5 into -0.5 17.833 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.833 * [backup-simplify]: Simplify phi2 into phi2 17.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.834 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 17.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 17.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 17.834 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.834 * [backup-simplify]: Simplify -0.5 into -0.5 17.834 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.834 * [backup-simplify]: Simplify phi2 into phi2 17.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 17.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 17.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 17.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 17.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 17.834 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.834 * [backup-simplify]: Simplify -0.5 into -0.5 17.834 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.834 * [backup-simplify]: Simplify phi1 into phi1 17.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 17.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 17.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 17.835 * [backup-simplify]: Simplify (+ 0) into 0 17.835 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.835 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.836 * [backup-simplify]: Simplify (- 0) into 0 17.837 * [backup-simplify]: Simplify (+ 0 0) into 0 17.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.837 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.837 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.838 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.838 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.838 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.838 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.839 * [backup-simplify]: Simplify (+ 0) into 0 17.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.840 * [backup-simplify]: Simplify (+ 0 0) into 0 17.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.841 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.841 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.841 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.842 * [backup-simplify]: Simplify (+ 0 0) into 0 17.842 * [backup-simplify]: Simplify (+ 0 0) into 0 17.842 * [backup-simplify]: Simplify (+ 0) into 0 17.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.843 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.844 * [backup-simplify]: Simplify (- 0) into 0 17.844 * [backup-simplify]: Simplify (+ 0 0) into 0 17.844 * [backup-simplify]: Simplify (+ 0) into 0 17.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.845 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.846 * [backup-simplify]: Simplify (+ 0 0) into 0 17.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 17.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.846 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.847 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.847 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.847 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.848 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.848 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.849 * [backup-simplify]: Simplify (+ 0) into 0 17.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.850 * [backup-simplify]: Simplify (+ 0 0) into 0 17.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.851 * [backup-simplify]: Simplify (+ 0) into 0 17.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.852 * [backup-simplify]: Simplify (- 0) into 0 17.852 * [backup-simplify]: Simplify (+ 0 0) into 0 17.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 17.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 17.853 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.853 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.853 * [backup-simplify]: Simplify (+ 0 0) into 0 17.854 * [backup-simplify]: Simplify (+ 0 0) into 0 17.854 * [backup-simplify]: Simplify (- 0) into 0 17.854 * [backup-simplify]: Simplify (+ 0 0) into 0 17.854 * [taylor]: Taking taylor expansion of 0 in phi1 17.854 * [backup-simplify]: Simplify 0 into 0 17.854 * [taylor]: Taking taylor expansion of 0 in lambda2 17.854 * [backup-simplify]: Simplify 0 into 0 17.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.855 * [backup-simplify]: Simplify (+ 0) into 0 17.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.856 * [backup-simplify]: Simplify (- 0) into 0 17.856 * [backup-simplify]: Simplify (+ 0 0) into 0 17.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.857 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.857 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.857 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.857 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.857 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 17.858 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0 17.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.858 * [backup-simplify]: Simplify (+ 0) into 0 17.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.860 * [backup-simplify]: Simplify (+ 0 0) into 0 17.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.860 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.860 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.860 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.861 * [backup-simplify]: Simplify (+ 0 0) into 0 17.861 * [backup-simplify]: Simplify (+ 0 0) into 0 17.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.861 * [backup-simplify]: Simplify (+ 0) into 0 17.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.863 * [backup-simplify]: Simplify (- 0) into 0 17.863 * [backup-simplify]: Simplify (+ 0 0) into 0 17.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 17.863 * [backup-simplify]: Simplify (+ 0) into 0 17.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.864 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.865 * [backup-simplify]: Simplify (+ 0 0) into 0 17.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 17.865 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 17.866 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 17.866 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))) into 0 17.866 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.866 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda1)) into 0 17.867 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))))) into 0 17.867 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) into 0 17.867 * [backup-simplify]: Simplify (+ 0 0) into 0 17.868 * [backup-simplify]: Simplify (- 0) into 0 17.868 * [backup-simplify]: Simplify (+ 0 0) into 0 17.868 * [taylor]: Taking taylor expansion of 0 in lambda2 17.868 * [backup-simplify]: Simplify 0 into 0 17.868 * [backup-simplify]: Simplify (+ 0) into 0 17.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.870 * [backup-simplify]: Simplify (- 0) into 0 17.870 * [backup-simplify]: Simplify (+ 0 0) into 0 17.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.870 * [backup-simplify]: Simplify (+ 0) into 0 17.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.871 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.876 * [backup-simplify]: Simplify (- 0) into 0 17.876 * [backup-simplify]: Simplify (+ 0 0) into 0 17.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 17.877 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 17.877 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.878 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.878 * [backup-simplify]: Simplify (+ 0) into 0 17.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.879 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.880 * [backup-simplify]: Simplify (+ 0 0) into 0 17.880 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 17.880 * [backup-simplify]: Simplify (+ 0) into 0 17.880 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.881 * [backup-simplify]: Simplify (+ 0 0) into 0 17.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 17.882 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 17.882 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.883 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 17.883 * [backup-simplify]: Simplify (+ 0 0) into 0 17.883 * [backup-simplify]: Simplify (+ 0 0) into 0 17.884 * [backup-simplify]: Simplify (+ 0) into 0 17.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.885 * [backup-simplify]: Simplify (- 0) into 0 17.885 * [backup-simplify]: Simplify (+ 0 0) into 0 17.886 * [backup-simplify]: Simplify (+ 0) into 0 17.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 17.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 17.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.887 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 17.887 * [backup-simplify]: Simplify (+ 0 0) into 0 17.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 17.887 * [backup-simplify]: Simplify (+ 0) into 0 17.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.889 * [backup-simplify]: Simplify (- 0) into 0 17.889 * [backup-simplify]: Simplify (+ 0 0) into 0 17.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 17.889 * [backup-simplify]: Simplify (+ 0) into 0 17.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 17.890 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 17.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 17.891 * [backup-simplify]: Simplify (+ 0 0) into 0 17.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.891 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 17.892 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0 17.893 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0 17.893 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.893 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 17.893 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.894 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 17.894 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1 17.894 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1 17.894 * [taylor]: Taking taylor expansion of 2 in lambda1 17.894 * [backup-simplify]: Simplify 2 into 2 17.894 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1 17.894 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.894 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.894 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.894 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.894 * [backup-simplify]: Simplify -0.5 into -0.5 17.894 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.894 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.894 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.894 * [backup-simplify]: Simplify phi1 into phi1 17.894 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.894 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.894 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.894 * [backup-simplify]: Simplify phi2 into phi2 17.894 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.894 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.894 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.894 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.894 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.895 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.895 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.895 * [backup-simplify]: Simplify (- 0) into 0 17.895 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.895 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.895 * [backup-simplify]: Simplify 0 into 0 17.895 * [backup-simplify]: Simplify 1 into 1 17.895 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.896 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.896 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.897 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.898 * [backup-simplify]: Simplify (- 0) into 0 17.898 * [backup-simplify]: Simplify (+ 0 0) into 0 17.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.899 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.900 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.900 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.900 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.901 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.901 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.902 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.903 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.903 * [backup-simplify]: Simplify (+ 0 0) into 0 17.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.905 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.905 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.906 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.906 * [backup-simplify]: Simplify (+ 0 0) into 0 17.906 * [backup-simplify]: Simplify (+ 0 0) into 0 17.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.908 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.908 * [backup-simplify]: Simplify (- 0) into 0 17.909 * [backup-simplify]: Simplify (+ 0 0) into 0 17.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.910 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.911 * [backup-simplify]: Simplify (+ 0 0) into 0 17.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 17.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 17.912 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.913 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.913 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.913 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.914 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))) (* 0 (/ 0 (* lambda2 lambda1))))) into 0 17.915 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.915 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.916 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.917 * [backup-simplify]: Simplify (+ 0 0) into 0 17.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.918 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.918 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.919 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.919 * [backup-simplify]: Simplify (- 0) into 0 17.919 * [backup-simplify]: Simplify (+ 0 0) into 0 17.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 17.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into 0 17.921 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.921 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.921 * [backup-simplify]: Simplify (+ 0 0) into 0 17.922 * [backup-simplify]: Simplify (+ 0 0) into 0 17.922 * [backup-simplify]: Simplify (- 0) into 0 17.922 * [backup-simplify]: Simplify (+ 0 0) into 0 17.922 * [taylor]: Taking taylor expansion of 0 in phi1 17.922 * [backup-simplify]: Simplify 0 into 0 17.922 * [taylor]: Taking taylor expansion of 0 in lambda2 17.922 * [backup-simplify]: Simplify 0 into 0 17.922 * [taylor]: Taking taylor expansion of 0 in lambda2 17.922 * [backup-simplify]: Simplify 0 into 0 17.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.923 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.924 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.924 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.925 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.925 * [backup-simplify]: Simplify (- 0) into 0 17.925 * [backup-simplify]: Simplify (+ 0 0) into 0 17.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.926 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.926 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.927 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.927 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.927 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.928 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))) (* 0 (/ 0 (pow lambda1 2))))) into 0 17.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.929 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.929 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.930 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.930 * [backup-simplify]: Simplify (+ 0 0) into 0 17.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.931 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.931 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.932 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.932 * [backup-simplify]: Simplify (+ 0 0) into 0 17.932 * [backup-simplify]: Simplify (+ 0 0) into 0 17.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.933 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.934 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.934 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.935 * [backup-simplify]: Simplify (- 0) into 0 17.935 * [backup-simplify]: Simplify (+ 0 0) into 0 17.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 17.936 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.937 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.937 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.938 * [backup-simplify]: Simplify (+ 0 0) into 0 17.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 17.938 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 17.939 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 17.940 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))))) into 0 17.940 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 17.941 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda1))) into 0 17.941 * [backup-simplify]: Simplify (- (/ 0 (* lambda2 lambda1)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) (/ 0 (* lambda2 lambda1))) (* 0 (/ 0 (* lambda2 lambda1))))) into 0 17.942 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) into 0 17.942 * [backup-simplify]: Simplify (+ 0 0) into 0 17.942 * [backup-simplify]: Simplify (- 0) into 0 17.942 * [backup-simplify]: Simplify (+ 0 0) into 0 17.942 * [taylor]: Taking taylor expansion of 0 in lambda2 17.942 * [backup-simplify]: Simplify 0 into 0 17.943 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.944 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.944 * [backup-simplify]: Simplify (- 0) into 0 17.945 * [backup-simplify]: Simplify (+ 0 0) into 0 17.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.946 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.947 * [backup-simplify]: Simplify (- 0) into 0 17.947 * [backup-simplify]: Simplify (+ 0 0) into 0 17.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 17.948 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 17.949 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.950 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.950 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.951 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.951 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.951 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.952 * [backup-simplify]: Simplify (+ 0 0) into 0 17.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 17.953 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.953 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.954 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.954 * [backup-simplify]: Simplify (+ 0 0) into 0 17.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 17.955 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 17.956 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.957 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.957 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.957 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.958 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.958 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.959 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.960 * [backup-simplify]: Simplify (- 0) into 0 17.960 * [backup-simplify]: Simplify (+ 0 0) into 0 17.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 17.961 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 17.961 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.962 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 17.962 * [backup-simplify]: Simplify (+ 0 0) into 0 17.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 17.963 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.963 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.964 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.964 * [backup-simplify]: Simplify (- 0) into 0 17.965 * [backup-simplify]: Simplify (+ 0 0) into 0 17.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 17.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 17.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 17.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 17.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 17.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 17.973 * [backup-simplify]: Simplify (+ 0 0) into 0 17.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 17.974 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 17.975 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 17.976 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into 0 17.976 * [backup-simplify]: Simplify (+ 0) into 0 17.976 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 17.976 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 17.976 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 17.977 * [backup-simplify]: Simplify (+ 0 0) into 0 17.977 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 17.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.978 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 17.978 * [backup-simplify]: Simplify (- 0) into 0 17.978 * [backup-simplify]: Simplify (+ 0 0) into 0 17.979 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 17.979 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0 17.979 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0 17.980 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0 17.980 * [backup-simplify]: Simplify (+ 0 0) into 0 17.980 * [backup-simplify]: Simplify (- 0) into 0 17.981 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 17.981 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 17.981 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 17.981 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 17.981 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 17.981 * [taylor]: Taking taylor expansion of -0.5 in lambda1 17.981 * [backup-simplify]: Simplify -0.5 into -0.5 17.981 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 17.981 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 17.981 * [taylor]: Taking taylor expansion of phi1 in lambda1 17.981 * [backup-simplify]: Simplify phi1 into phi1 17.981 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 17.981 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 17.981 * [taylor]: Taking taylor expansion of phi2 in lambda1 17.981 * [backup-simplify]: Simplify phi2 into phi2 17.981 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 17.981 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 17.981 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 17.981 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.981 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.981 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.982 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 17.982 * [backup-simplify]: Simplify (- 0) into 0 17.982 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 17.982 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 17.982 * [taylor]: Taking taylor expansion of lambda1 in lambda1 17.982 * [backup-simplify]: Simplify 0 into 0 17.982 * [backup-simplify]: Simplify 1 into 1 17.982 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.982 * [backup-simplify]: Simplify (* 1 1) into 1 17.983 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.983 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 17.983 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 17.983 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.984 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 17.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 17.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 17.984 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 17.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 17.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 17.984 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 17.985 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 17.985 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 17.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 17.986 * [backup-simplify]: Simplify (- 0) into 0 17.986 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 17.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 17.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 17.986 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 17.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 17.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 17.986 * [backup-simplify]: Simplify (- 0) into 0 17.986 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 17.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 17.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 17.987 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 17.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 17.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) 17.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 17.987 * [backup-simplify]: Simplify (* 2 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (* 2 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) 17.987 * [backup-simplify]: Simplify (- (* 2 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (* 2 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 17.988 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (* 2 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (* 2 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 17.989 * [backup-simplify]: Simplify (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (* 2 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (* 2 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 17.993 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (* 2 (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi2))))))))) (pow (* 1 (* (/ 1 (/ 1 (- lambda2))) (* 1 1))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- lambda2))) (* 1 1)))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))))))) 17.993 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 1 2 2) 17.993 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) 17.993 * [approximate]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in (phi2 lambda2 phi1) around 0 17.993 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1 17.993 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 17.993 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 17.993 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 17.993 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.993 * [backup-simplify]: Simplify 0.5 into 0.5 17.993 * [taylor]: Taking taylor expansion of phi2 in phi1 17.993 * [backup-simplify]: Simplify phi2 into phi2 17.993 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.993 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.994 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.994 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 17.994 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 17.994 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 17.994 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 17.994 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 17.994 * [taylor]: Taking taylor expansion of lambda2 in phi1 17.994 * [backup-simplify]: Simplify lambda2 into lambda2 17.994 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 17.994 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 17.994 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 17.994 * [taylor]: Taking taylor expansion of 0.5 in phi1 17.994 * [backup-simplify]: Simplify 0.5 into 0.5 17.994 * [taylor]: Taking taylor expansion of phi1 in phi1 17.994 * [backup-simplify]: Simplify 0 into 0 17.994 * [backup-simplify]: Simplify 1 into 1 17.994 * [backup-simplify]: Simplify (* 0.5 0) into 0 17.995 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 17.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 17.997 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 17.997 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 17.997 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 17.997 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 17.997 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.997 * [backup-simplify]: Simplify 0.5 into 0.5 17.997 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.997 * [backup-simplify]: Simplify phi2 into phi2 17.997 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 17.997 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 17.997 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 17.997 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 17.997 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 17.998 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 17.998 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 17.998 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 17.998 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.998 * [backup-simplify]: Simplify 0 into 0 17.998 * [backup-simplify]: Simplify 1 into 1 17.998 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 17.998 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 17.998 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 17.998 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.998 * [backup-simplify]: Simplify 0.5 into 0.5 17.998 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.998 * [backup-simplify]: Simplify phi1 into phi1 17.998 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 17.998 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 17.998 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 17.998 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 17.998 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 17.998 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 17.998 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 17.998 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 17.998 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 17.998 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 17.998 * [taylor]: Taking taylor expansion of 0.5 in phi2 17.998 * [backup-simplify]: Simplify 0.5 into 0.5 17.998 * [taylor]: Taking taylor expansion of phi2 in phi2 17.998 * [backup-simplify]: Simplify 0 into 0 17.998 * [backup-simplify]: Simplify 1 into 1 17.999 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.000 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 18.002 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 18.002 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 18.002 * [taylor]: Taking taylor expansion of lambda2 in phi2 18.002 * [backup-simplify]: Simplify lambda2 into lambda2 18.002 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 18.002 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 18.002 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 18.002 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.002 * [backup-simplify]: Simplify 0.5 into 0.5 18.002 * [taylor]: Taking taylor expansion of phi1 in phi2 18.002 * [backup-simplify]: Simplify phi1 into phi1 18.002 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 18.002 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 18.002 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 18.002 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 18.002 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 18.002 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 18.002 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2 18.003 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 18.003 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 18.003 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 18.003 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.003 * [backup-simplify]: Simplify 0.5 into 0.5 18.003 * [taylor]: Taking taylor expansion of phi2 in phi2 18.003 * [backup-simplify]: Simplify 0 into 0 18.003 * [backup-simplify]: Simplify 1 into 1 18.003 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.004 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 18.006 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 18.006 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 18.006 * [taylor]: Taking taylor expansion of lambda2 in phi2 18.006 * [backup-simplify]: Simplify lambda2 into lambda2 18.006 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 18.006 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 18.006 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 18.006 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.006 * [backup-simplify]: Simplify 0.5 into 0.5 18.006 * [taylor]: Taking taylor expansion of phi1 in phi2 18.006 * [backup-simplify]: Simplify phi1 into phi1 18.006 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 18.006 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 18.006 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 18.007 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 18.007 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 18.007 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 18.007 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 18.007 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 18.007 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 18.007 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) 18.008 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) 18.008 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 18.008 * [taylor]: Taking taylor expansion of 0.25 in lambda2 18.008 * [backup-simplify]: Simplify 0.25 into 0.25 18.008 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 18.008 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 18.008 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 18.008 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 18.008 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.008 * [backup-simplify]: Simplify 0.5 into 0.5 18.008 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.008 * [backup-simplify]: Simplify phi1 into phi1 18.008 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 18.008 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 18.008 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 18.008 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 18.008 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 18.008 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 18.008 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 18.008 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.008 * [backup-simplify]: Simplify 0 into 0 18.008 * [backup-simplify]: Simplify 1 into 1 18.008 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 18.009 * [backup-simplify]: Simplify (* 1 1) into 1 18.009 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) 1) into (pow (sin (* 0.5 phi1)) 2) 18.009 * [backup-simplify]: Simplify (* 0.25 (pow (sin (* 0.5 phi1)) 2)) into (* 0.25 (pow (sin (* 0.5 phi1)) 2)) 18.009 * [taylor]: Taking taylor expansion of (* 0.25 (pow (sin (* 0.5 phi1)) 2)) in phi1 18.009 * [taylor]: Taking taylor expansion of 0.25 in phi1 18.009 * [backup-simplify]: Simplify 0.25 into 0.25 18.009 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 18.009 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 18.009 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 18.009 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.009 * [backup-simplify]: Simplify 0.5 into 0.5 18.009 * [taylor]: Taking taylor expansion of phi1 in phi1 18.009 * [backup-simplify]: Simplify 0 into 0 18.009 * [backup-simplify]: Simplify 1 into 1 18.010 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.011 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 18.013 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 18.013 * [backup-simplify]: Simplify (* 0.25 0.25) into 0.0625 18.013 * [backup-simplify]: Simplify 0.0625 into 0.0625 18.013 * [backup-simplify]: Simplify (+ 0) into 0 18.014 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 18.014 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 18.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.015 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 18.015 * [backup-simplify]: Simplify (+ 0 0) into 0 18.015 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 18.015 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 18.016 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 18.016 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 18.017 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.017 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 0.5)) into 0 18.018 * [backup-simplify]: Simplify (+ (* 0.25 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0 18.018 * [taylor]: Taking taylor expansion of 0 in lambda2 18.018 * [backup-simplify]: Simplify 0 into 0 18.018 * [taylor]: Taking taylor expansion of 0 in phi1 18.018 * [backup-simplify]: Simplify 0 into 0 18.018 * [backup-simplify]: Simplify 0 into 0 18.019 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.019 * [backup-simplify]: Simplify (+ 0) into 0 18.020 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 18.020 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 18.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.021 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 18.021 * [backup-simplify]: Simplify (+ 0 0) into 0 18.022 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 18.022 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 1)) into 0 18.023 * [backup-simplify]: Simplify (+ (* 0.25 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 18.023 * [taylor]: Taking taylor expansion of 0 in phi1 18.023 * [backup-simplify]: Simplify 0 into 0 18.023 * [backup-simplify]: Simplify 0 into 0 18.023 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 18.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.024 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 0.5)) into 0 18.025 * [backup-simplify]: Simplify (+ (* 0.25 0) (* 0 0.25)) into 0 18.025 * [backup-simplify]: Simplify 0 into 0 18.025 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.026 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.027 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 18.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.027 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.028 * [backup-simplify]: Simplify (+ 0 0) into 0 18.028 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0 18.028 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 18.029 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (sin (* 0.5 phi1)) 2)))) into 0 18.029 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 18.032 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 18.035 * [backup-simplify]: Simplify (+ (* 0.5 (- 0.020833333333333332)) (+ (* 0 0) (* (- 0.020833333333333332) 0.5))) into (- 0.020833333333333332) 18.036 * [backup-simplify]: Simplify (+ (* 0.25 0) (+ (* 0 0) (* (- 0.020833333333333332) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))))) into (- (* 0.020833333333333332 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) 18.036 * [taylor]: Taking taylor expansion of (- (* 0.020833333333333332 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) in lambda2 18.036 * [taylor]: Taking taylor expansion of (* 0.020833333333333332 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 18.036 * [taylor]: Taking taylor expansion of 0.020833333333333332 in lambda2 18.036 * [backup-simplify]: Simplify 0.020833333333333332 into 0.020833333333333332 18.036 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 18.036 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 18.036 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 18.036 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 18.036 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.036 * [backup-simplify]: Simplify 0.5 into 0.5 18.036 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.036 * [backup-simplify]: Simplify phi1 into phi1 18.036 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 18.036 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 18.036 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 18.036 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 18.036 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 18.036 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 18.036 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 18.036 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.036 * [backup-simplify]: Simplify 0 into 0 18.036 * [backup-simplify]: Simplify 1 into 1 18.036 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 18.037 * [backup-simplify]: Simplify (* 1 1) into 1 18.037 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) 1) into (pow (sin (* 0.5 phi1)) 2) 18.037 * [backup-simplify]: Simplify (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2)) into (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2)) 18.037 * [backup-simplify]: Simplify (- (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2))) into (- (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2))) 18.037 * [taylor]: Taking taylor expansion of (- (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2))) in phi1 18.037 * [taylor]: Taking taylor expansion of (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2)) in phi1 18.037 * [taylor]: Taking taylor expansion of 0.020833333333333332 in phi1 18.037 * [backup-simplify]: Simplify 0.020833333333333332 into 0.020833333333333332 18.037 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 18.037 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 18.037 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 18.037 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.037 * [backup-simplify]: Simplify 0.5 into 0.5 18.037 * [taylor]: Taking taylor expansion of phi1 in phi1 18.037 * [backup-simplify]: Simplify 0 into 0 18.037 * [backup-simplify]: Simplify 1 into 1 18.037 * [backup-simplify]: Simplify (* 0.5 0) into 0 18.038 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 18.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 18.040 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 18.040 * [backup-simplify]: Simplify (* 0.020833333333333332 0.25) into 0.005208333333333333 18.040 * [backup-simplify]: Simplify (- 0.005208333333333333) into (- 0.005208333333333333) 18.041 * [backup-simplify]: Simplify (- 0.005208333333333333) into (- 0.005208333333333333) 18.041 * [taylor]: Taking taylor expansion of 0 in phi1 18.041 * [backup-simplify]: Simplify 0 into 0 18.041 * [backup-simplify]: Simplify 0 into 0 18.041 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.042 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.043 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 18.043 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.044 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.044 * [backup-simplify]: Simplify (+ 0 0) into 0 18.044 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0 18.045 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 1))) into 0 18.045 * [backup-simplify]: Simplify (+ (* 0.25 0) (+ (* 0 0) (* 0 (pow (sin (* 0.5 phi1)) 2)))) into 0 18.045 * [taylor]: Taking taylor expansion of 0 in phi1 18.045 * [backup-simplify]: Simplify 0 into 0 18.045 * [backup-simplify]: Simplify 0 into 0 18.045 * [backup-simplify]: Simplify 0 into 0 18.045 * [backup-simplify]: Simplify 0 into 0 18.046 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 18.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 18.051 * [backup-simplify]: Simplify (+ (* 0.5 (- 0.020833333333333332)) (+ (* 0 0) (* (- 0.020833333333333332) 0.5))) into (- 0.020833333333333332) 18.052 * [backup-simplify]: Simplify (+ (* 0.25 (- 0.020833333333333332)) (+ (* 0 0) (* 0 0.25))) into (- 0.005208333333333333) 18.052 * [backup-simplify]: Simplify (- 0.005208333333333333) into (- 0.005208333333333333) 18.054 * [backup-simplify]: Simplify (+ (* (- 0.005208333333333333) (pow (* (pow phi1 2) (* lambda2 phi2)) 2)) (+ (* (- 0.005208333333333333) (pow (* phi1 (* lambda2 (pow phi2 2))) 2)) (* 0.0625 (pow (* phi1 (* lambda2 phi2)) 2)))) into (- (* 0.0625 (* (pow phi2 2) (* (pow lambda2 2) (pow phi1 2)))) (+ (* 0.005208333333333333 (* (pow phi2 2) (* (pow lambda2 2) (pow phi1 4)))) (* 0.005208333333333333 (* (pow phi2 4) (* (pow lambda2 2) (pow phi1 2)))))) 18.054 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 (/ 1 phi2))) 2) (* (pow (/ 1 lambda2) 2) (pow (sin (* 0.5 (/ 1 phi1))) 2))) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 18.054 * [approximate]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in (phi2 lambda2 phi1) around 0 18.054 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1 18.054 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 18.054 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 18.054 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 18.054 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 18.054 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.054 * [backup-simplify]: Simplify 0.5 into 0.5 18.054 * [taylor]: Taking taylor expansion of phi1 in phi1 18.054 * [backup-simplify]: Simplify 0 into 0 18.054 * [backup-simplify]: Simplify 1 into 1 18.054 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.055 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 18.055 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 18.055 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 18.055 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.055 * [backup-simplify]: Simplify 0.5 into 0.5 18.055 * [taylor]: Taking taylor expansion of phi2 in phi1 18.055 * [backup-simplify]: Simplify phi2 into phi2 18.055 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.055 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.055 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.055 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.055 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.055 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 18.055 * [taylor]: Taking taylor expansion of lambda2 in phi1 18.055 * [backup-simplify]: Simplify lambda2 into lambda2 18.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.055 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.055 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.055 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 18.056 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 18.056 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 18.056 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.056 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.056 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.056 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.056 * [backup-simplify]: Simplify 0.5 into 0.5 18.056 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.056 * [backup-simplify]: Simplify phi1 into phi1 18.056 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.056 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.056 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.056 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.056 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.056 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.056 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.056 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.056 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.056 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.056 * [backup-simplify]: Simplify 0.5 into 0.5 18.056 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.056 * [backup-simplify]: Simplify phi2 into phi2 18.057 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.057 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.057 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.057 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.057 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.057 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 18.057 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.057 * [backup-simplify]: Simplify 0 into 0 18.057 * [backup-simplify]: Simplify 1 into 1 18.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.057 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.057 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.058 * [backup-simplify]: Simplify (* 1 1) into 1 18.058 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.058 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 18.058 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 18.058 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 18.058 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 18.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 18.058 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.058 * [backup-simplify]: Simplify 0.5 into 0.5 18.058 * [taylor]: Taking taylor expansion of phi1 in phi2 18.058 * [backup-simplify]: Simplify phi1 into phi1 18.058 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.058 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.058 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.058 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.058 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.058 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.058 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 18.058 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 18.058 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 18.058 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.058 * [backup-simplify]: Simplify 0.5 into 0.5 18.058 * [taylor]: Taking taylor expansion of phi2 in phi2 18.058 * [backup-simplify]: Simplify 0 into 0 18.058 * [backup-simplify]: Simplify 1 into 1 18.059 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.059 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.059 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 18.059 * [taylor]: Taking taylor expansion of lambda2 in phi2 18.059 * [backup-simplify]: Simplify lambda2 into lambda2 18.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.059 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.059 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.059 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 18.059 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 18.059 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2 18.060 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 18.060 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 18.060 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 18.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 18.060 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.060 * [backup-simplify]: Simplify 0.5 into 0.5 18.060 * [taylor]: Taking taylor expansion of phi1 in phi2 18.060 * [backup-simplify]: Simplify phi1 into phi1 18.060 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.060 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.060 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.060 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.060 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.060 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 18.060 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 18.060 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 18.060 * [taylor]: Taking taylor expansion of 0.5 in phi2 18.060 * [backup-simplify]: Simplify 0.5 into 0.5 18.060 * [taylor]: Taking taylor expansion of phi2 in phi2 18.060 * [backup-simplify]: Simplify 0 into 0 18.060 * [backup-simplify]: Simplify 1 into 1 18.060 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.060 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.060 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 18.060 * [taylor]: Taking taylor expansion of lambda2 in phi2 18.060 * [backup-simplify]: Simplify lambda2 into lambda2 18.061 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.061 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.061 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.061 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 18.061 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) 18.061 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2 18.061 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.061 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.061 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.061 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.061 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.061 * [backup-simplify]: Simplify 0.5 into 0.5 18.061 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.061 * [backup-simplify]: Simplify phi1 into phi1 18.061 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.061 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.062 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.062 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.062 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.062 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.062 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.062 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.062 * [backup-simplify]: Simplify 0.5 into 0.5 18.062 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.062 * [backup-simplify]: Simplify phi2 into phi2 18.062 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.062 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.062 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.062 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.062 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.062 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.062 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 18.062 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.062 * [backup-simplify]: Simplify 0 into 0 18.062 * [backup-simplify]: Simplify 1 into 1 18.062 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.062 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.063 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.063 * [backup-simplify]: Simplify (* 1 1) into 1 18.063 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.063 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 18.063 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 18.063 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 18.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 18.063 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.063 * [backup-simplify]: Simplify 0.5 into 0.5 18.063 * [taylor]: Taking taylor expansion of phi1 in phi1 18.063 * [backup-simplify]: Simplify 0 into 0 18.063 * [backup-simplify]: Simplify 1 into 1 18.064 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 18.064 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.064 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 18.064 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 18.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 18.064 * [taylor]: Taking taylor expansion of 0.5 in phi1 18.064 * [backup-simplify]: Simplify 0.5 into 0.5 18.064 * [taylor]: Taking taylor expansion of phi2 in phi1 18.064 * [backup-simplify]: Simplify phi2 into phi2 18.064 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.064 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.064 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.064 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.064 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.064 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.065 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.065 * [backup-simplify]: Simplify (+ 0) into 0 18.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.066 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.066 * [backup-simplify]: Simplify (+ 0 0) into 0 18.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.067 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.067 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 18.067 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 18.067 * [taylor]: Taking taylor expansion of 0 in lambda2 18.067 * [backup-simplify]: Simplify 0 into 0 18.068 * [backup-simplify]: Simplify (+ 0) into 0 18.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.068 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.068 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.069 * [backup-simplify]: Simplify (+ 0 0) into 0 18.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.069 * [backup-simplify]: Simplify (+ 0) into 0 18.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.072 * [backup-simplify]: Simplify (+ 0 0) into 0 18.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.072 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.072 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.073 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0 18.073 * [taylor]: Taking taylor expansion of 0 in phi1 18.073 * [backup-simplify]: Simplify 0 into 0 18.073 * [backup-simplify]: Simplify 0 into 0 18.073 * [backup-simplify]: Simplify (+ 0) into 0 18.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.081 * [backup-simplify]: Simplify (+ 0 0) into 0 18.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.081 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.081 * [backup-simplify]: Simplify 0 into 0 18.081 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.083 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.083 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.084 * [backup-simplify]: Simplify (+ 0 0) into 0 18.084 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.084 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.085 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 18.085 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 18.085 * [taylor]: Taking taylor expansion of 0 in lambda2 18.085 * [backup-simplify]: Simplify 0 into 0 18.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.087 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.087 * [backup-simplify]: Simplify (+ 0 0) into 0 18.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.089 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.089 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.090 * [backup-simplify]: Simplify (+ 0 0) into 0 18.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.091 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.091 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.092 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 18.092 * [taylor]: Taking taylor expansion of 0 in phi1 18.092 * [backup-simplify]: Simplify 0 into 0 18.092 * [backup-simplify]: Simplify 0 into 0 18.092 * [backup-simplify]: Simplify 0 into 0 18.093 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.094 * [backup-simplify]: Simplify (+ 0 0) into 0 18.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.096 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.096 * [backup-simplify]: Simplify 0 into 0 18.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 18.097 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 18.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 18.098 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 18.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 18.099 * [backup-simplify]: Simplify (+ 0 0) into 0 18.100 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0 18.100 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))))) into 0 18.101 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 0) (* 0 lambda2)))) into 0 18.101 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 18.101 * [taylor]: Taking taylor expansion of 0 in lambda2 18.101 * [backup-simplify]: Simplify 0 into 0 18.101 * [taylor]: Taking taylor expansion of 0 in phi1 18.101 * [backup-simplify]: Simplify 0 into 0 18.101 * [backup-simplify]: Simplify 0 into 0 18.102 * [backup-simplify]: Simplify (* (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (pow (* 1 (* (/ 1 (/ 1 lambda2)) 1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))) 18.102 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 (/ 1 (- phi2)))) 2) (* (pow (/ 1 (- lambda2)) 2) (pow (sin (* 0.5 (/ 1 (- phi1)))) 2))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 18.102 * [approximate]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in (phi2 lambda2 phi1) around 0 18.102 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1 18.102 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 18.102 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 18.102 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 18.102 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 18.102 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.102 * [backup-simplify]: Simplify -0.5 into -0.5 18.102 * [taylor]: Taking taylor expansion of phi2 in phi1 18.102 * [backup-simplify]: Simplify phi2 into phi2 18.102 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 18.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.103 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 18.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 18.103 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 18.103 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 18.103 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 18.103 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 18.103 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.103 * [backup-simplify]: Simplify -0.5 into -0.5 18.103 * [taylor]: Taking taylor expansion of phi1 in phi1 18.103 * [backup-simplify]: Simplify 0 into 0 18.103 * [backup-simplify]: Simplify 1 into 1 18.103 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.103 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.103 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 18.103 * [taylor]: Taking taylor expansion of lambda2 in phi1 18.103 * [backup-simplify]: Simplify lambda2 into lambda2 18.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 18.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 18.104 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.104 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 18.104 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 18.104 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 18.104 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 18.104 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 18.104 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 18.104 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 18.104 * [taylor]: Taking taylor expansion of -0.5 in lambda2 18.104 * [backup-simplify]: Simplify -0.5 into -0.5 18.104 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.104 * [backup-simplify]: Simplify phi2 into phi2 18.104 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 18.104 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.104 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 18.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 18.104 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 18.104 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 18.104 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 18.104 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 18.105 * [taylor]: Taking taylor expansion of -0.5 in lambda2 18.105 * [backup-simplify]: Simplify -0.5 into -0.5 18.105 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.105 * [backup-simplify]: Simplify phi1 into phi1 18.105 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.105 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.105 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 18.105 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 18.105 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 18.105 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 18.105 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.105 * [backup-simplify]: Simplify 0 into 0 18.105 * [backup-simplify]: Simplify 1 into 1 18.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 18.105 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 18.105 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.106 * [backup-simplify]: Simplify (* 1 1) into 1 18.106 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.106 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 18.106 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 18.106 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 18.106 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 18.106 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 18.106 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.106 * [backup-simplify]: Simplify -0.5 into -0.5 18.106 * [taylor]: Taking taylor expansion of phi2 in phi2 18.106 * [backup-simplify]: Simplify 0 into 0 18.106 * [backup-simplify]: Simplify 1 into 1 18.107 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.107 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.107 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 18.107 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 18.107 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 18.107 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.107 * [backup-simplify]: Simplify -0.5 into -0.5 18.107 * [taylor]: Taking taylor expansion of phi1 in phi2 18.107 * [backup-simplify]: Simplify phi1 into phi1 18.107 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.107 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.107 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.107 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 18.107 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 18.107 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 18.107 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 18.107 * [taylor]: Taking taylor expansion of lambda2 in phi2 18.107 * [backup-simplify]: Simplify lambda2 into lambda2 18.107 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 18.108 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 18.108 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.108 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 18.108 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 18.108 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2 18.108 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 18.108 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 18.108 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 18.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 18.108 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.108 * [backup-simplify]: Simplify -0.5 into -0.5 18.108 * [taylor]: Taking taylor expansion of phi2 in phi2 18.108 * [backup-simplify]: Simplify 0 into 0 18.108 * [backup-simplify]: Simplify 1 into 1 18.109 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.109 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.109 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 18.109 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 18.109 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 18.109 * [taylor]: Taking taylor expansion of -0.5 in phi2 18.109 * [backup-simplify]: Simplify -0.5 into -0.5 18.109 * [taylor]: Taking taylor expansion of phi1 in phi2 18.109 * [backup-simplify]: Simplify phi1 into phi1 18.109 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.109 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.109 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 18.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 18.109 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 18.109 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 18.109 * [taylor]: Taking taylor expansion of lambda2 in phi2 18.109 * [backup-simplify]: Simplify lambda2 into lambda2 18.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 18.110 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 18.110 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.110 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 18.110 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) 18.110 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2 18.110 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 18.110 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 18.110 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 18.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 18.110 * [taylor]: Taking taylor expansion of -0.5 in lambda2 18.110 * [backup-simplify]: Simplify -0.5 into -0.5 18.110 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.110 * [backup-simplify]: Simplify phi2 into phi2 18.110 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 18.110 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 18.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 18.111 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 18.111 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 18.111 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 18.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 18.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 18.111 * [backup-simplify]: Simplify -0.5 into -0.5 18.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.111 * [backup-simplify]: Simplify phi1 into phi1 18.111 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 18.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 18.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 18.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 18.111 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 18.111 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 18.111 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.111 * [backup-simplify]: Simplify 0 into 0 18.111 * [backup-simplify]: Simplify 1 into 1 18.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 18.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 18.111 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.112 * [backup-simplify]: Simplify (* 1 1) into 1 18.112 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.112 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 18.112 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 18.112 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 18.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 18.112 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.112 * [backup-simplify]: Simplify -0.5 into -0.5 18.112 * [taylor]: Taking taylor expansion of phi2 in phi1 18.112 * [backup-simplify]: Simplify phi2 into phi2 18.112 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 18.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 18.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 18.112 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 18.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 18.112 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 18.113 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 18.113 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 18.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 18.113 * [taylor]: Taking taylor expansion of -0.5 in phi1 18.113 * [backup-simplify]: Simplify -0.5 into -0.5 18.113 * [taylor]: Taking taylor expansion of phi1 in phi1 18.113 * [backup-simplify]: Simplify 0 into 0 18.113 * [backup-simplify]: Simplify 1 into 1 18.113 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 18.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 18.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 18.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 18.113 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.114 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 18.114 * [backup-simplify]: Simplify (+ 0) into 0 18.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 18.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 18.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 18.115 * [backup-simplify]: Simplify (+ 0 0) into 0 18.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 18.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 18.116 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 18.116 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 18.116 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 18.116 * [taylor]: Taking taylor expansion of 0 in lambda2 18.116 * [backup-simplify]: Simplify 0 into 0 18.117 * [backup-simplify]: Simplify (+ 0) into 0 18.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 18.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 18.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 18.118 * [backup-simplify]: Simplify (+ 0 0) into 0 18.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 18.118 * [backup-simplify]: Simplify (+ 0) into 0 18.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 18.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 18.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 18.120 * [backup-simplify]: Simplify (+ 0 0) into 0 18.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 18.120 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 18.121 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.121 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0 18.121 * [taylor]: Taking taylor expansion of 0 in phi1 18.121 * [backup-simplify]: Simplify 0 into 0 18.121 * [backup-simplify]: Simplify 0 into 0 18.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 18.122 * [backup-simplify]: Simplify (+ 0) into 0 18.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 18.122 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 18.123 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 18.123 * [backup-simplify]: Simplify (+ 0 0) into 0 18.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 18.124 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 18.124 * [backup-simplify]: Simplify 0 into 0 18.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.125 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.126 * [backup-simplify]: Simplify (+ 0 0) into 0 18.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 18.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 18.127 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 18.127 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 18.128 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 18.128 * [taylor]: Taking taylor expansion of 0 in lambda2 18.128 * [backup-simplify]: Simplify 0 into 0 18.128 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.129 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.129 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.130 * [backup-simplify]: Simplify (+ 0 0) into 0 18.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 18.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.132 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.132 * [backup-simplify]: Simplify (+ 0 0) into 0 18.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 18.133 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 18.134 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.135 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0 18.135 * [taylor]: Taking taylor expansion of 0 in phi1 18.135 * [backup-simplify]: Simplify 0 into 0 18.135 * [backup-simplify]: Simplify 0 into 0 18.135 * [backup-simplify]: Simplify 0 into 0 18.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 18.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.137 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.137 * [backup-simplify]: Simplify (+ 0 0) into 0 18.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 18.138 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 18.138 * [backup-simplify]: Simplify 0 into 0 18.139 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 18.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 18.140 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.140 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 18.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 18.141 * [backup-simplify]: Simplify (+ 0 0) into 0 18.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 18.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2)))))) into 0 18.143 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))))) into 0 18.143 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 0) (* 0 lambda2)))) into 0 18.144 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))) (* 0 (/ 0 (pow lambda2 2))))) into 0 18.144 * [taylor]: Taking taylor expansion of 0 in lambda2 18.144 * [backup-simplify]: Simplify 0 into 0 18.144 * [taylor]: Taking taylor expansion of 0 in phi1 18.144 * [backup-simplify]: Simplify 0 into 0 18.144 * [backup-simplify]: Simplify 0 into 0 18.144 * [backup-simplify]: Simplify (* (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2)) (pow (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) 18.144 * * * [progress]: simplifying candidates 18.156 * [simplify]: Simplifying: (log (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 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lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi1))))))))) (- (* 0.0625 (* (pow phi2 2) (* (pow lambda2 2) (pow phi1 2)))) (+ (* 0.005208333333333333 (* (pow phi2 2) (* (pow lambda2 2) (pow phi1 4)))) (* 0.005208333333333333 (* (pow phi2 4) (* (pow lambda2 2) (pow phi1 2)))))) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) 18.174 * [simplify]: Sending expressions to egg_math: (log (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0))))) (exp (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0))))) (* (cbrt (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0))))) (cbrt (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0)))))) (cbrt (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0))))) (* (* (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0)))) (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0))))) (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0))))) (sqrt (* (cbrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0)))) (cbrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0)))))) (sqrt (cbrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* 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(sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0))))) (sqrt 1) (sqrt (+ (- (+ (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))))) (+ (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (pow h2 2)))))))) (* (- h1 h0) (- h1 h0)))) (sqrt (+ (* (- (* (+ (pow (* (pow (cos (* h3 h0)) 2) (* (pow (cos (* h3 h1)) 2) (pow h2 2))) 3) (pow (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2)))) 3)) (+ (* (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2))))) (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (cos (* h3 h1)) (* (sin (* h3 h0)) (pow h2 2)))))) (- (* (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 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(* (pow h2 2) (pow (sin (* h3 h1)) 2)))) (* (pow (sin (* h3 h0)) 2) (pow h2 2)) (* (pow (cbrt (sin (* h3 h0))) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (* (pow (sqrt (sin (* h3 h0))) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (* (sin (* h3 h0)) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (* (cbrt (pow (sin (* h3 h0)) 2)) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (* (sqrt (pow (sin (* h3 h0)) 2)) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (* (pow (sin (* h3 h0)) (/ 2 2)) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (- h4 h2) (- (+ (/ (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4)) h0) (+ (/ (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) (* h4 h1))) (pow h0 2)) h1))) (+ (/ (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4)) h0) (+ (/ (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) (* h4 h1))) (pow h0 2)) h1)) (- (* h6 (* (pow h2 2) (pow h1 2))) (* h5 (* (pow h2 2) (pow h1 4)))) (* (pow (sin (* h3 h1)) 2) (pow h2 2)) (* (pow (sin (* h3 h1)) 2) (pow h2 2)) (- (+ (pow h4 2) (pow h2 2)) (* 2 (* h2 h4))) (- (+ (* (pow (cos (* h3 h1)) 2) (* (pow h2 2) (pow (cos (* h3 h0)) 2))) (+ (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)) (* (pow (sin (* h3 h1)) 2) (* (pow h2 2) (pow (sin (* h3 h0)) 2))))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* 2 (* (cos (* h3 h1)) (* (sin (* h3 h1)) (* (pow h2 2) (* (sin (* h3 h0)) (cos (* h3 h0))))))))) (- (+ (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) (+ (* (pow (cos (* h3 h0)) 2) (* (pow h2 2) (pow (cos (* h3 h1)) 2))) (* (pow (cos (* h3 (+ h0 h1))) 2) (pow h4 2)))) (+ (* 2 (* h2 (* (pow (cos (* h3 (+ h0 h1))) 2) h4))) (* 2 (* (cos (* h3 h0)) (* (sin (* h3 h1)) (* (pow h2 2) (* (sin (* h3 h0)) (cos (* h3 h1))))))))) (- (* h8 (* (pow h0 2) (* (pow h2 2) (pow h1 2)))) (+ (* h7 (* (pow h0 2) (* (pow h2 2) (pow h1 4)))) (* h7 (* (pow h0 4) (* (pow h2 2) (pow h1 2)))))) (* (pow (sin (* h3 h1)) 2) (* (pow h2 2) (pow (sin (* h3 h0)) 2))) (* (pow (sin (* h3 h0)) 2) (* (pow h2 2) (pow (sin (* h3 h1)) 2))) 18.387 * * * [progress]: adding candidates to table 20.403 * [progress]: [Phase 3 of 3] Extracting. 20.403 * * [regime]: Finding splitpoints for: (# # # # # # # # # # # # #) 20.441 * * * [regime-changes]: Trying 7 branch expressions: ((- lambda1 lambda2) (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) phi2 phi1 lambda2 lambda1 R) 20.441 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (# # # # # # # # # # # # #) 20.567 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (# # #) 20.597 * * * * [regimes]: Trying to branch on (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) from (# # # # # # # # # # # # #) 20.711 * * * * [regimes]: Trying to branch on phi2 from (# # # # # # # # # # # # #) 20.828 * * * * [regimes]: Trying to branch on phi1 from (# # # # # # # # # # # # #) 20.956 * * * * [regimes]: Trying to branch on lambda2 from (# # # # # # # # # # # # #) 21.103 * * * * [regimes]: Trying to branch on lambda1 from (# # # # # # # # # # # # #) 21.255 * * * * [regimes]: Trying to branch on R from (# # # # # # # # # # # # #) 21.397 * * * [regime]: Found split indices: #